Feature article: Control theoretic approach to gyro-free inertial navigation systems

Uriel Nusbaum, Itzik Klein

Research output: Contribution to journalArticlepeer-review


In general, an inertial navigation system (INS) consists of a navigation computer and an inertial measurement unit (IMU). Given initial conditions and IMU measurements, the INS provides the position, velocity, and orientation of its carrying platform. The inertial sensors, namely, the accelerometers and gyroscopes (gyros), are part of the IMU. A classical IMU architecture has three accelerometers (to measure specific force) and three gyros (to measure angular velocity) arranged in orthogonal triads.

Original languageEnglish
Article number8068040
Pages (from-to)38-45
Number of pages8
JournalIEEE Aerospace and Electronic Systems Magazine
Issue number8
StatePublished - Aug 2017
Externally publishedYes

Bibliographical note

Publisher Copyright:
© 2017 IEEE.

ASJC Scopus subject areas

  • Aerospace Engineering
  • Space and Planetary Science
  • Electrical and Electronic Engineering


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