Inertial navigation system (inertial navigation system) is a kind of autonomous navigation method. It completely relies on the equipment on the carrier to determine the direction, position, attitude and speed, and other navigation parameters without any external information like light, electricity and magnetism.Inertial navigation (inertial navigation) is a comprehensive technology involving many disciplines and fields such as precision machinery, computer technology, microelectronics, optics, automatic control and materials.The basic working principle is based on Newton’s laws of mechanics, by measuring the acceleration of the carrier in the inertial frame of reference, angular acceleration, it time for a product, the speed of the motion vector is obtained, the angular velocity, the location of the motion vector is obtained after the second integral information, and then to transform it to navigation coordinate system, to get the velocity in the navigation system, yaw Angle and location information, etc.
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