Strapdown at the Crossroads

Abstract

Algorithms needed for processing raw strapdown inertial instrument outputs, long regarded as the exclusive province of experts, can be dramatically simplified for most applications. If extended coast durations are not required (because of repetitive updates), error propagation is also vastly simplified. After quantifying that coast duration in relation to gyro and accelerometer quality, this paper describes straightforward computational procedures capitalizing on modern processing capabilities. Conclusions are validated by description of results with measured data in the literature.