Inertial Navigation System (INS) is used to calculate the Position, Velocity and Orientation of a platform (object).

The Kosminis Vytis’ INS includes two main components: Inertial Measurement Unit (IMU) sensor and Computational Unit. The IMU is a sensor based on a microelectromechanical system (MEMS) consisting of a 3-axis accelerometer and a 3-axis gyroscope. Computational Unit provides the processing of raw IMU data. These relative measurements (INS) can accumulate drift errors over time. Therefore, INS is combined with GNSS (GNSS+INS) to provide reliable, highly accurate and high update rates positioning and orientation (attitude) in the most challenging environments even during GNSS outages.

In the Kosminis Vytis’ GNSS-aided INS receiver(s), the GNSS data and IMU data are fused by an Extended Kalman Filter (EKF) using a loosely coupled integration algorithm.

Initialization Methods are available (user-selectable):

–   coordinates are from own antenna, velocities are considered equal to zero, roll and pitch are from accelerometer, the course (yaw) will determine itself in the process;

–   coordinates are from own antenna, velocities are considered equal to zero, roll and pitch are from accelerometer, the course (yaw) is given by the user;

–   all parameters are derived from the user command.

Inertial receiver(s) setting up is significantly simplified with the Lever Arm functionality.