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Dissertations / Theses on the topic 'Inertial navigation systems'

Author: Grafiati

Published: 4 June 2021

Last updated: 30 July 2024

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1

Zhao, Yong 1980. "Discrete-time observers for inertial navigation systems." Thesis, Massachusetts Institute of Technology, 2004. http://hdl.handle.net/1721.1/17956.

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Thesis (S.M.)--Massachusetts Institute of Technology, Dept. of Mechanical Engineering, 2004.<br>Includes bibliographical references (p. 65-66).<br>In this thesis, we derive an exact deterministic nonlinear observer to compute the continuous-time states of inertial navigation system based on partial discrete measurements, the so-called strapdown problem. Nonlinear contraction theory is used as the main analysis tool. The hierarchical structure of the system physics is sytematically exploited and the use of nonlinear measurements, such as distances to time-varying reference points, is discussed.

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2

Mohamadabadi, Kaveh. "Anisotropic Magnetoresistance Magnetometer for inertial navigation systems." Phd thesis, Ecole Polytechnique X, 2013. http://tel.archives-ouvertes.fr/tel-00946970.

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This work addresses the relevant errors of the anisotropic magnetoresistance sensor for inertial navigation systems. The manuscript provides resulting guidelines and solution for using the AMR sensors in a robust and appropriate way relative to the applications. New methods also are proposed to improve the performance and, reduce the power requirements and cost design of the magnetometer. The new compensation method is proposed by developing an optimization algorithm. The necessity of the sensor calibration is shown and the source of the errors and compensating model are investigated. Two nove

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3

Ruiz, Mario. "Optimization of a strapdown inertial navigation system." To access this resource online via ProQuest Dissertations and Theses @ UTEP, 2009. http://0-proquest.umi.com.lib.utep.edu/login?COPT=REJTPTU0YmImSU5UPTAmVkVSPTI=&clientId=2515.

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4

Hewitson, Steve Surveying &amp Spatial Information Systems Faculty of Engineering UNSW. "Quality control for integrated GNSS and inertial navigation systems." Awarded by:University of New South Wales. Surveying and Spatial Information Systems, 2006. http://handle.unsw.edu.au/1959.4/25534.

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The availability of GPS signals is a major limitation for many existing and potential applications. Fortunately, with the development of Galileo by the European Commission (EC) and European Space Agency (ESA) and new funding for the restoration of the Russian GLONASS announced by the Russian Federation the future for satellite based positioning and navigation applications is extremely promising. This research primarily investigates the benefits of GNSS interoperability and GNSS/INS integration to Receiver Autonomous Integrity Monitoring (RAIM) from a geometrical perspective. In addition to the

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5

Wall, John H. "A study of the effects of stochastic inertial sensor errors in dead-reckoning navigation." Auburn, Ala., 2007. http://repo.lib.auburn.edu/07M%20Theses/WALL_JOHN_59.pdf.

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6

Skog, Isaac. "Low-Cost Navigation Systems : A Study of Four Problems." Doctoral thesis, KTH, Signalbehandling, 2009. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-11736.

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Today the area of high-cost and high-performance navigation for vehicles is a well-developed field. The challenge now is to develop high-performance navigation systems using low-cost sensortechnology. This development involves problems spanning from signal processing of the dirty measurements produced by low-costsensors via fusion and synchronization of information produced by a large set of diverse sensors, to reducing the size and energyconsumption of the systems. This thesis examines and proposessolutions to four of these problems. The first problem examined is the time synchronizing of the

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7

Walchko, Kevin J. "Low cost inertial navigation learning to integrate noise and find your way /." [Gainesville, Fla.] : University of Florida, 2002. http://purl.fcla.edu/fcla/etd/UFE1001193.

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8

Li, Wei. "On the study of mixed signal interface circuit for inertial navigation system." Thesis, University of Macau, 2017. http://umaclib3.umac.mo/record=b3691765.

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9

Soloviev, Andrey. "Investigation into performance enhancement of integrated global positioning/inertial navigation systems by frequency domain implementation of inertial computational procedures." Ohio : Ohio University, 2002. http://www.ohiolink.edu/etd/view.cgi?ohiou1178652218.

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10

Sukkarieh, Salah. "Low Cost, High Integrity, Aided Inertial Navigation Systems for Autonomous Land Vehicles." Thesis, The University of Sydney, 2000. http://hdl.handle.net/2123/18358.

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This thesis describes the theoretical and practical development of a low cost, high integrity, aided inertial navigation system for use in autonomous land vehicle applications. The demand for fail safe navigation systems which can be used on large autonomous land vehicles such as those found in container terminals, agriculture, construction and in mines, has driven research and technology into the development of high integrity navigation suites. Integrity, in this thesis, is defined as the ability of a navigation system to provide reliable navigation information while also monitoring the healt

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11

Newlin, Michael Linton Hung John Y. Bevly David M. "Design and development of a GPS intermediate frequency and IMU data acquisition system for advanced integrated architectures." Auburn, Ala., 2006. http://repo.lib.auburn.edu/2006%20Fall/Theses/NEWLIN_MICHAEL_7.pdf.

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12

Harris, William M. "Integrated Global Positioning System and inertial navigation system integrity monitor performance." Ohio : Ohio University, 2003. http://www.ohiolink.edu/etd/view.cgi?ohiou1175091451.

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13

Kiran, Sai. "An inertial measurement unit interface and processing system synchronized to global positioning system time." Ohio University / OhioLINK, 1998. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1176489175.

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14

Ramaswamy, Sridhar. "An investigation of integrarted Global Positioning System and inertial navigation system fault detection." Ohio : Ohio University, 2000. http://www.ohiolink.edu/etd/view.cgi?ohiou1172777336.

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15

Li, Xiaopeng. "Moving base INS/GPS vector gravimetry on a land vehicle." Columbus, Ohio : Ohio State University, 2007. http://rave.ohiolink.edu/etdc/view?acc%5Fnum=osu1195677222.

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16

Mathur, Navin G. "Feasibility of using a low-cost inertial measurement unit with centimeter accuracy differential global positioning system." Ohio University / OhioLINK, 1999. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1181173720.

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17

Stavish, Kenneth V. "Resilience Analysis of Inertial Navigation Systems (INS) through an Enhanced INS Tool Kit." Thesis, The George Washington University, 2018. http://pqdtopen.proquest.com/#viewpdf?dispub=10743838.

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<p> Resilience is explained as an entity’s capacity to survive and recover from disruptions. Approaches to design resilient systems are in growing demand; however, there have been few demonstrations for measuring and quantifying systems resilience. This research presents a Resilience Analysis regarding Inertial Navigation System (INS) architectures. Specifically for the case study at hand, it is not clear which INS architecture to choose (tightly coupled or loosely coupled) for resilience. This research tests whether Robustness and Recovery measures of effectiveness (MOEs) can be used to

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18

Bacilieri, Federico. "Solutions and algorithms for inertial navigation of railroad vehicles." Master's thesis, Alma Mater Studiorum - Università di Bologna, 2017. http://amslaurea.unibo.it/14209/.

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Obiettivo di questa tesi è lo studio e lo sviluppo di soluzioni innovative di navigazione inerziale per applicazioni ferroviarie, strumento utile per il tracciamento del moto durante l'assenza prolungata di sistemi di localizzazione esterni, tipo GPS, come può avvenire in galleria. Definiti gli strumenti di lavoro, è stata poi eseguita un'analisi dello stato dell'arte al fine di mettere in evidenza le metodologie teoriche utilizzate, nonchè le prestazioni dei sistemi già esistenti. Sono poi caratterizzati i sensori e le misure disponibili. Sono proposte varie soluzioni al problema della navig

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19

Marti, Lukas Michael. "Integration of local area augmentation system and inertial navigation system for aircraft surface movement guidance." Ohio : Ohio University, 2000. http://www.ohiolink.edu/etd/view.cgi?ohiou1172603243.

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20

Skog, Isaac, John-Olof Nilsson, Dave Zachariah, and Peter Händel. "Fusing the information from two navigation systems using an upper bound on their maximum spatial separation." KTH, Signalbehandling, 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-107445.

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A method is proposed to fuse the information from two navigation systems whose relative position is unknown, but where there exists an upper limit on how far apart the two systems can be. The proposed information fusion method is applied to a scenario in which a pedestrian is equipped with two foot-mounted zero-velocity-aided inertial navigation systems; one system on each foot. The performance of the method is studied using experimental data. The results show that the method has the capability to significantly improve the navigation performance when compared to using two uncoupled foot-mounte

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21

Anderson, Abby Hodel A. Scottedward. "Design, testing, and simulation of a low-cost, light-weight, low-g IMU for the navigation of an indoor blimp." Auburn, Ala., 2006. http://repo.lib.auburn.edu/2006%20Spring/master's/ANDERSON_ABBY_43.pdf.

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22

Tetewsky, Avram Ross Jeff Soltz Arnold Vaughn Norman Anszperger Jan O'Brien Chris Graham Dave Craig Doug Lozow Jeff. "Making sense of inter-signal corrections : accounting for GPS satellite calibration parameters in legacy and modernized ionosphere correction algorithms /." [Eugene, Ore. : Gibbons Media & Research], 2009. http://www.insidegnss.com/auto/julyaug09-tetewsky-final.pdf.

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"Author biographies are available in the expanded on-line version of this article [http://www.insidegnss.com/auto/julyaug09-tetewsky-final.pdf]"<br>"July/August 2009." Web site title: Making Sense of GPS Inter-Signal Corrections : Satellite Calibration Parameters in Legacy and Modernized Ionosphere Correction Algorithms.

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23

Clark, Benjamin J. Bevly David M. "GPS/INS operation in shadowed environments." Auburn, Ala, 2008. http://repo.lib.auburn.edu/EtdRoot/2008/SUMMER/Mechanical_Engineering/Thesis/Clark_Benjamin_45.pdf.

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24

Clanton, Joshua M. Bevly David M. Hodel A. Scottedward. "GPS and inertial sensor enhancements for vision-based highway lane tracking." Auburn, Ala., 2006. http://repo.lib.auburn.edu/2006%20Summer/Theses/CLANTON_JOSHUA_8.pdf.

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25

Wolfaardt, H. Jurgens. "Theory of the microfluidic channel angular accelerometer for inertial measurement applications." Pretoria : [s.n.], 2005. http://upetd.up.ac.za/thesis/available/etd-05152007-120803.

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26

Wright, James. "Use of ground based signals of opportunity for smart projectile navigation." Thesis, Georgia Institute of Technology, 2010. http://hdl.handle.net/1853/33885.

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GPS is a widely accepted means of navigation, whether it is for civilian or military means. With the implementation of GPS on smart projectiles, these weapons have been able to achieve remarkable accuracy. Even though the improvements in accuracy are impressive, GPS signals are susceptible to jamming and spoofing by a sufficiently motivated enemy. The work reported here examines the viability of constructing a navigation solution using ground based signals of opportunity that provide range and range rate information. Using a generalized sensor model encompassing the key error terms, a variety

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27

Panahandeh, Ghazaleh, Nasser Mohammadiha, and Magnus Jansson. "Ground Plane Feature Detection in Mobile Vision-Aided Inertial Navigation." KTH, Signalbehandling, 2012. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-99448.

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In this paper, a method for determining ground plane features in a sequence of images captured by a mobile camera is presented. The hardware of the mobile system consists of a monocular camera that is mounted on an inertial measurement unit (IMU). An image processing procedure is proposed, first to extract image features and match them across consecutive image frames, and second to detect the ground plane features using a two-step algorithm. In the first step, the planar homography of the ground plane is constructed using an IMU-camera motion estimation approach. The obtained homography constr

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28

Edwan, Ezzaldeen [Verfasser]. "Novel approaches for improved performance of inertial sensors and integrated navigation systems / Ezzaldeen Edwan." Siegen : Universitätsbibliothek der Universität Siegen, 2013. http://d-nb.info/103442596X/34.

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29

Bergendorff, Markus. "Simuleringsmodell av tröghetsnavigator." Thesis, Umeå universitet, Institutionen för tillämpad fysik och elektronik, 2021. http://urn.kb.se/resolve?urn=urn:nbn:se:umu:diva-185046.

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När tiden för utveckling av nya produkter kortas ner måste testning och verifiering utföras i ett tidigare utvecklingsstadie. Genom simulering av systemet kan tester utföras utan tillgång till det faktiska systemet och därmed kan utvecklingsprocessen accelereras. I BAE Systems Hägglunds stridsvagnar används en tröghetsnavigator som kan beräkna stridsvagnens position utan externa referenser. Test och verifiering av navigation med denna enhet i testbänk är ej fullt möjligt. Syftet med detta arbete är att kunna genomföra verklighetstrogna tester, i testbänk i utvecklingsfasen, genom att simulera

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30

Henderson, Harold Paulk Bevly David M. "Relative positioning of unmanned ground vehicles using ultrasonic sensors." Auburn, Ala, 2008. http://repo.lib.auburn.edu/EtdRoot/2008/SPRING/Mechanical_Engineering/Thesis/Henderson_Harold_55.pdf.

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31

Nielsen, Jerel Bendt. "Robust Visual-Inertial Navigation and Control of Fixed-Wing and Multirotor Aircraft." BYU ScholarsArchive, 2019. https://scholarsarchive.byu.edu/etd/7584.

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With the increased performance and reduced cost of cameras, the robotics community has taken great interest in estimation and control algorithms that fuse camera data with other sensor data.In response to this interest, this dissertation investigates the algorithms needed for robust guidance, navigation, and control of fixed-wing and multirotor aircraft applied to target estimation and circumnavigation.This work begins with the development of a method to estimate target position relative to static landmarks, deriving and using a state-of-the-art EKF that estimates static landmarks in its state

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32

Shiel, Michael P. "Multi-level information fusion for environment aware robotic navigation." Thesis, Queensland University of Technology, 2013. https://eprints.qut.edu.au/61955/1/Michael_Shiel_Thesis.pdf.

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This thesis develops the hardware and software framework for an integrated navigation system. Dynamic data fusion algorithms are used to develop a system with a high level of resistance to the typical problems that affect standard navigation systems.

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33

Tabatabaei, Balaei Asghar Surveying &amp Spatial Information Systems Faculty of Engineering UNSW. "Detection, characterization and mitigation of interference in receivers for global navigation satellite systems." Publisher:University of New South Wales. Surveying & Spatial Information Systems, 2007. http://handle.unsw.edu.au/1959.4/40545.

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GPS has become very popular in recent years. It is used in wide range of applications including aircraft navigation, search and rescue, space borne attitude and position determination and cellular network synchronization. Each application places demands on GPS for various levels of accuracy, integrity, system availability and continuity of service. Radio frequency interference (RFI) which results from many sources such as TV/FM harmonics, radar or mobile satellite systems, presents a challenge to the use of GPS. It can affect all the service performance indices mentioned above. To improve the

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34

GARRAFFA, Giovanni. "Real Time Localization Systems for autonomous navigation: Modelling, Analysis and Control." Doctoral thesis, Università degli Studi di Palermo, 2021. http://hdl.handle.net/10447/514955.

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Questo lavoro di tesi riguarda la derivazione di osservatori ibridi dello stato, analisi e controllo, di sistemi di localizzazione e navigazione in tempo reale (RTLS). In particolare, il framework dei sistemi ibridi è stato utilizzato per tener conto delle dinamiche continue e discrete coinvolte nel processo di stima e della natura sporadica e tempo randomica delle misure provenienti da vari sensori di distanza e/o inerziali. Analisi di convergenza sono state effettuate per dimostrare la stabilità delle soluzioni proposte e la capacità di filtraggio dei rumori presenti nelle misure. Il present

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35

Cork, Lennon R. "Aircraft dynamic navigation for unmanned aerial vehicles." Thesis, Queensland University of Technology, 2014. https://eprints.qut.edu.au/71396/1/Lennon_Cork_Thesis.pdf.

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This thesis describes the investigation of an Aircraft Dynamic Navigation (ADN) approach, which incorporates an Aircraft Dynamic Model (ADM) directly into the navigation filter of a fixed-wing aircraft or UAV. The result is a novel approach that offers both performance improvements and increased reliability during short-term GPS outages. This is important in allowing future UAVs to achieve routine, unconstrained, and safe operations in commercial environments. The primary contribution of this research is the formulation Unscented Kalman Filter (UKF) which incorporates a complex, non-linear, la

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36

Castillo-Effen, Mauricio. "Cooperative localization in wireless networked systems." [Tampa, Fla.] : University of South Florida, 2007. http://purl.fcla.edu/usf/dc/et/SFE0002220.

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37

Akcay, Emre Mustafa. "Land Vehicle Navigation With Gps/ins Sensor Fusion Using Kalman Filter." Master's thesis, METU, 2008. http://etd.lib.metu.edu.tr/upload/2/12610327/index.pdf.

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Inertial Measurement Unit (IMU) and Global Positioning System (GPS) receivers are sensors that are widely used for land vehicle navigation. GPS receivers provide position and/or velocity data to any user on the Earth&rsquo<br>s surface independent of his position. Yet, there are some conditions that the receiver encounters difficulties, such as weather conditions and some blockage problems due to buildings, trees etc. Due to these difficulties, GPS receivers&rsquo<br>errors increase. On the other hand, IMU works with respect to Newton&rsquo<br>s laws. Thus, in stark contrast with other navigat

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38

Kayasal, Ugur. "Modeling And Simulation Of A Navigation System With An Imu And A Magnetometer." Master's thesis, METU, 2007. http://etd.lib.metu.edu.tr/upload/12608786/index.pdf.

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In this thesis, the integration of a MEMS based inertial measurement unit and a three axis solid state magnetometer are studied. It is a fact that unaided inertial navigation systems, especially low cost MEMS based navigation systems have a divergent behavior. Nowadays, many navigation systems use GPS aiding to improve the performance, but GPS may not be applicable in some cases. Also, GPS provides the position and velocity reference whereas the attitude information is extracted through estimation filters. An alternative reference source is a three axis magnetometer, which provides direct atti

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39

Bommakanti, Hemanth Ram Kartik. "Impact of Time Synchronization Accuracy in Integrated Navigation Systems." Thesis, KTH, Skolan för elektroteknik och datavetenskap (EECS), 2019. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-260239.

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Global Navigation Satellite System/Inertial Measurement Unit (GNSS/IMU) Integrated Navigation Systems (INS) integrate the positive features of GNSS and IMU for optimal navigation guidance in high accuracy outdoor navigation systems, for example using Extended Kalman Filter (EKF) techniques. Time synchronization of IMU data with precise GNSS based time is necessary to accurately synchronize the two systems. This must be done in real-time for time sensitive navigation applications such as autonomous vehicles. The research is done in two parts. The first part is the simulation of inaccurate time-

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40

Huff, Joel E. "Absolute and Relative Navigation of an sUAS Swarm Using Integrated GNSS, Inertial and Range Radios." Ohio University / OhioLINK, 2018. http://rave.ohiolink.edu/etdc/view?acc_num=ohiou1535040500005309.

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41

Randeniya, Duminda I. B. "Automatic geo-referencing by integrating camera vision and inertial measurements." [Tampa, Fla.] : University of South Florida, 2007. http://purl.fcla.edu/usf/dc/et/SFE0002045.

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42

Chung, Charles Choi. "Thermomigrated Junction Isolation of Deep Reactive Ion Etched, Single Crystal Silicon Devices, and its Application to Inertial Navigation Systems." Diss., Georgia Institute of Technology, 2004. http://hdl.handle.net/1853/5120.

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The introduction of deep reactive ion etching (DRIE) technology has greatly expanded the accessible design space for microscopic systems. Structures that are hundreds of micrometers tall with aspect ratios of 40:1, heretofore impossible, can now be achieved. However, this technology is primarily a forming technology, sculpting structures from a substrate. This work seeks to complement deep reactive ion etching by developing an electrical isolation technology to enable electro-mechanical function in these new deep reactive ion etched structures. The objective of the research is twofold. The

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43

Murangira, Achille. "Nouvelles approches en filtrage particulaire : application au recalage de la navigation inertielle." Thesis, Troyes, 2014. http://www.theses.fr/2014TROY0011/document.

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Les travaux présentés dans ce mémoire de thèse concernent le développement et la mise en oeuvre d'un algorithme de filtrage particulaire pour le recalage de la navigation inertielle par mesures altimétriques. Le filtre développé, le MRPF (Mixture Regularized Particle Filter), s'appuie à la fois sur la modélisation de la densité a posteriori sous forme de mélange fini, sur le filtre particulaire régularisé ainsi que sur l'algorithme mean-shift clustering. Nous proposons également une extension du MRPF au filtre particulaire Rao-Blackwellisé appelée MRBPF (Mixture Rao-Blackwellized Particle Filt

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44

Roskilly, Kyle. "Sensor augmentation of GPS for position and speed sensing in animal locomotion." Thesis, Royal Veterinary College (University of London), 2015. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.669198.

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45

Chan, Francis Chun Ngai Electrical Engineering &amp Telecommunications Faculty of Engineering UNSW. "Statistical methods on detecting superpositional signals in a wireless channel." Awarded by:University of New South Wales. School of Electrical Engineering and Telecommunications, 2006. http://handle.unsw.edu.au/1959.4/30596.

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The objective of the thesis is concerned on the problem of detecting superpositional signals in a wireless channel. In many wireless systems, an observed signal is commonly represented as a linear combination of the transmitted signal with the interfering signals dispersed in space and time. These systems are generally known as the interference-limited systems. The mathematical model of these systems is generally referred as a superpositional model. A distinguished characteristic of signal transmission in a time-varying wireless channel is that the channel process is not known a priori. Reliab

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46

Cookson, Jeremy L. "A method for testing the dynamic accuracy of Microelectro-Mechanical Systems (MEMS) Magnetic, Angular Rate, and Gravity (MARG) sensors for Inertial Navigation Systems (INS) and human motion tracking applications." Thesis, Monterey, California : Naval Postgraduate School, 2010. http://edocs.nps.edu/npspubs/scholarly/theses/2010/Jun/10Jun%5FCookson.pdf.

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Thesis (M.S. in Electrical Engineering)--Naval Postgraduate School, June 2010.<br>Thesis Advisor(s): Yun, Xiaoping ; Second Reader: Romano, Marcello. "June 2010." Description based on title screen as viewed on July 14, 2010. Author(s) subject terms: micro-electro-mechanical systems, MEMS, magnetic, angular rate, gravity sensor, MARG sensors, inertial navigation system, INS, inertial test, MicroStrain, 3DM-GX1, 3DMGX3, CompactRIO, MATLAB GUI, dynamic accuracy test. Includes bibliographical references (p. 187-189). Also available in print.

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47

Kirkpatrick, Daniel Eugene. "Design of a Hardware Platform for GPS-Based Orientation Sensing." PDXScholar, 2015. https://pdxscholar.library.pdx.edu/open_access_etds/2197.

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Unmanned aerial vehicles (UAV's) have recently gained popularity in military, civil service, agriculture, commercial, and hobby use. This is due in part to their affordability, which comes from advances in component technology. That technology includes microelectromechanical systems (MEMS) for inertial sensing, microprocessor technology for sequential algorithm processing, field programmable gate arrays (FPGA's) for parallel data processing, camera technology, global navigation satellite systems (GNSS's) for navigation, and battery technology such as the high energy density of lithium polymer

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48

Kayasal, Ugur. "Research On Transfer Alignment For Increased Speed And Accuracy." Phd thesis, METU, 2012. http://etd.lib.metu.edu.tr/upload/12614771/index.pdf.

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In this thesis, rapid transfer alignment algorithm for a helicopter launched guided munition is studied. Transfer alignment is the process of initialization of a guided munition&rsquo<br>s inertial navigation system with the aid of the carrier platform&rsquo<br>s navigation system, which is generally done by comparing the navigation data of missile and carrier&rsquo<br>s navigation data. In the literature, there are different studies of transfer alignment, especially for aircraft launched munitions. One important problem in transfer alignment is the attitude uncertainty of lever arm between

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49

McCrink, Matthew H. "Development of Flight-Test Performance Estimation Techniques for Small Unmanned Aerial Systems." The Ohio State University, 2015. http://rave.ohiolink.edu/etdc/view?acc_num=osu1449142886.

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50

Chotaš, Kryštof. "Polohový a kursový referenční systém." Master's thesis, Vysoké učení technické v Brně. Fakulta elektrotechniky a komunikačních technologií, 2014. http://www.nusl.cz/ntk/nusl-220851.

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This thesis deals with inertial navigation systems issues. It describes basics of reference frames, coordinate systems and matrix calculations for AHRS. There are also basic information about inertial sensors, inertial measurements units and its mistakes. One of the purposes of this paper could be explanation of inertial navigation systems terms. The main object of this thesis is to explore the influence of using multiple sensors of same type to enhance measurements of AHRS systems.

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