← Back
Home › Systems › Defense and aerospace

inertial-navigation

IMU/INS navigation with aiding: strapdown mechanisation, IMU calibration, error-state Kalman with GNSS/terrain/star aiding, alignment

Honeywell, Safran, Northrop LN-series

SystemTechniques · 15Primitives · 43 inertial-navigation Terrain referenced navigationcontrol · medium: Position fixing by matching measured terrain profiles to stored elevation mapsFault detection isolation recoveryembedded · medium: Monitor/response tables, fault isolation and safe-mode recovery hierarchies for autonomous systemsImage alignment registrationmedia · medium: Align frames via feature matching or pyramidal optical flow for burst merging and stitchingLevenberg marquardtnumerics · medium: Damped Gauss-Newton nonlinear least squares for model calibrationSequential monte carlonumerics · medium: Particle filters and SMC samplers with resampling for sequential Bayesian inferenceAttitude determinationrobotics · medium: Estimate orientation from vector observations (TRIAD, QUEST/Wahba) and gyrosInteracting multiple model filterrobotics · medium: IMM filter mixing several motion models for maneuvering targetsRedundancy votingembedded · low: N-modular redundancy and MooN voting (2oo3, TMR) with discrepancy detectionQuaternion rotationsgeometry · low: Unit quaternions as 3D rotations: 4 floats, cheap composition, no gimbal lock, plus the conversions, interpolation choices and numerical care needed in practice.›Extended Kalman filterrobotics · low: Kalman filter for nonlinear motion and measurement models: linearize f and h with Jacobians at the current estimate each step. The default estimator in robot navigation.›Kalman filterrobotics · low: Optimal recursive estimator for a linear system with Gaussian noise: fuses a motion model with noisy measurements into a state estimate plus its covariance.›Complementary filterrobotics · low: Blend high-passed gyro integration with low-passed accelerometer/magnetometer attitude (Mahony/Madgwick)Robust statisticsstatistics · low: Location and scale estimates (median, MAD, trimmed mean, Huber M-estimator) that stay correct when a minority of the data is garbage.›Allan variance noise modelcontrol · low: Characterise sensor noise (random walk, bias instability) from Allan variance to tune filtersStrapdown mechanizationcontrol · low: Integrate gyro and accelerometer readings into attitude, velocity and positionFixed-rate control loopembedded · low: Run a controller at an exact period using absolute deadlines and a fixed dt, so jitter never accumulates and the math stays valid.›k-d treegeometry · low: A binary tree that splits k-dimensional points by one coordinate per level, giving fast nearest-neighbour and box queries on static low-dimensional data.›Runge-Kutta 4numerics · low: The classic four-stage, fourth-order ODE step; error drops 16× when the step halves, with no derivatives or past steps needed.›Watchdog timerembedded · low: A hardware down-counter that resets the chip unless software proves, in time and in a plausible pattern, that it is still healthy.›Hierarchical state machinesystems · low: Nest states so a substate inherits its parent's reactions and only overrides what differs, with ordered entry and exit actions along the path.›Homogeneous transformsgeometry · low: 4x4 affine and projective matrices, homogeneous coordinates, view and projection, normal matricesImage pyramidsgraphics · low: Gaussian/Laplacian pyramids and tiled multi-resolution images for zoom and blendingImage warping remapgraphics · low: Resampling with lookup maps: resize, lens undistortion, homographies, bilinear/bicubic+ 8 more techniques+ 27 more primitives

Similar systems

Share the most building blocks with this one.

dynamic-positioning 26 %air-missile-defense 17 %