| Channel | Contributing Sensor | ||||||
| IMU | Attitude | Depth | Altimeter | USBL/LBL | GPS | DVL | |
| X Position | T[x/s2 ]+ X0 | X | X | T[x/s] + X0 | |||
| Y Position | T[y/s2] + Y0 | Y | Y | T[y/s] + Y0 | |||
| Z Position | T[z/s2] + Z0 | Z | Z | ||||
| Heading | T[ψ/s] + Ψ0 | Ψ | |||||
| Pitch | T[θ/s] + ϴ0 | Φ | |||||
| Roll | T[ϕ/s] + Φ0 | Φ | |||||
| X Velocity | T[x/s] + X0 | T[x] | |||||
| Y Velocity | T[y/s] + Y0 | T[y] | |||||
| Z Velocity | T[z/s] + Z0 | ||||||
| Altitude | Zref | Zref | |||||
The above table shows the contribution of each sensor to the final INS state estimate. An aided inertial estimate for a state is only possible if there is both an IMU component and an aiding sensor component. Altitude, for instance, is not estimated through an aided inertial solution because the IMU cannot measure any state description of the vehicle's relationship to the bottom.
This final state estimate is the navigation solution and contains a full state description of the system. This information is the output of the INS.
Illustration 1: Comparison of final psi ins solution (blue) and compass measurement (red).
Comparison of final phi ins solution (blue) and compass measurement (red).
Article ID:
187
