Examines how small IMU errors integrate into velocity and position drift, introduces the bias, random-noise, and Gauss-Markov models, covers Allan variance as the standard ground test for IMU error parameters, defines the navigation state and covariance, and explains why inertial drift tests must observe at least one full Schuler cycle (~85 minutes).
## What you'll learn 1. Explain why inertial navigation errors grow over time. 2. Trace how small sensor errors propagate into velocity and position errors. 3. Identify the common error models used in navigation systems: bias, random walk, and Gauss-Markov. 4. Define the navigation state and explain what state propagation does. 5. Interpret inertial drift using simple operational metrics, including drift slope in NM/hr and the role of the Schuler cycle. ## In this blockIMU error models, drift, and the Schuler cycle.
FlashcardsClick-to-reveal cards for the block's key terms and equations.
DemoAdd a constant bias to a noisy accelerometer signal and watch velocity and position grow.
DemoRun a free-inertial coast over hours and see Schuler oscillation emerge.