The derivation of modern inertial navigation methods at stationary state

This article discusses the derivation of low-cost inertial navigation methods at stationary state in the navigation systems. To implement navigation algorithms, it needs to use an IMU (3 accelerometers and 3 gyroscopes). Thus, higher accuracy results higher cost. The methods used in this article do not need complete IMU sensors to calculate Euler angles, which includes an accelerometer and a rate gyro. Subsequently navigator hardware cost will decrease. For this purpose, mathematical equations are derived with multi-direction solution method, which the desired angle is extracted at first ,and then simulated as a hardware have done. specific values have been assumed for the Euler angles in the simulation process due to lack of access to field data, and the same angles are computed for two states (ideal and real sensors). By comparing the extended navigator algorithms, the best one (high accuracy and low cost) has been selected here in this paper.