Module 3

INERTIAL NAVIGATION SYSTEMS/

INERTIAL REFERENCE SYSTEMS

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• An INS/IRS is a self contained system that does not
require input radio signals from a ground navigation
facility or transmitter.
• The IRS designation is generally reserved for more
modern systems, INS being the older.
2.1 INS: INERTIAL NAVIGATION SYSTEMS (STABILIZED INERTIAL PLATFORM)

2.1.1 BASIC PRINCIPLES

• The system derives attitude, velocity, and direction information from
measurement of the aircraft’s accelerations given a known starting point
(initializing).
• The location of the aircraft is continuously updated through calculations
based on the forces experienced by INS accelerometers.
• A minimum of two accelerometers is used, one referenced to north, and the
other referenced to east.

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Accelerometer measurement
• These acceleration measuring devices sense any
change in the aircraft’s velocity either as an
acceleration or deceleration very accurately.
• Once aligned, INS supplies both navigation and
attitude information:
• Geographic location of the aircraft
• Ground speed
• True track
• Aircraft attitude
• True heading
• Wind data
Stabilized Platform
2.1.2 DESIGN

• An INS uses complex calculation made by an INS computer

to convert applied forces into location information.
• An interface control head is used to enter starting location
position data while the aircraft is stationary on the ground.
This is called initializing.
• From then on, all motion of the aircraft is sensed by the built-
in accelerometers and run through the computer.

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Initial alignment of an INS platform before the flight
• To navigate using INS, the platform first needs to be
initialized and aligned.
Initialization: is an external initial position input (from
GPS position, or manual coordinate entry by crew)
• Based on this value, alignment begins.
Alignment: is leveling the gimballed platform to the
local horizontal.
• This is done by changing the platform attitude to
where accelerometers sense ZERO gravity value.
• Aircraft should be in a fixed position while aligning.
• This takes minimum of 17-20 minutes.
• Through the flight, to maintain the already aligned
platform, certain corrections have to be applied:
• Earth’s rotation
• Earth’s ellipsoid shape
• Aircraft’s movement over earth’s surface
• Aircraft’s altitude (varies arc minute)
2.1.2 ERRORS

• Feedback and correction loops are used to correct for

accumulated error as flight time progresses.
• Accumulated error of less than one mile after one
hour of flight is possible.
• A latitude/longitude coordinate system is used when
giving the location output.

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2.1.2 ERRORS

• All INS have a drift-rate error, which accumulates

during usage.
• The error ranges from about 1 mi of error for each
hour of operation to 10mi error for every 10hr
operation.
• The newer strap-down system (IRS) has a lower drift-rate
error.
• To compensate for this error, all INS require a periodic update
from another navigation source. 12
• INS is integrated into an airliner’s flight management system
(FMS) and automatic flight control system (AFCS).
• Waypoints can be entered for a predetermined flight path and
the INS will guide the aircraft to each waypoint in succession.

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Mechanical gyros
o INS uses mechanical gyro as attitude and heading sensing
units.
o They provide the pilot with critical attitude and directional
information
o Three of the most common flight instruments, the attitude
indicator, heading indicator, and turn needle of the turn-and
bank indicator, are controlled by gyroscopes.
o It is comprised of a wheel or rotor with its mass
concentrated around its perimeter.
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Rigidity
• When the rotor is rotated at a high speed, the gyro
exhibits a couple of unique characteristics.
• The first is called gyroscopic rigidity. This means that
the rotor of a free gyro always points in the same
direction no matter which way the base (platform) of the
gyro is positioned.
• This character is exploited in the attitude-indicating
instruments and the directional indicators that use gyros.
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precession
• Precession is a second important characteristic of
gyroscopes.
• For an applied force, it responds as though the force
was applied 90° around in the direction of rotation of
the gyro rotor. The gyro rotates rather than tilts.
• This character is utilized in a turn and bank
instrument

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2.2 IRS : INERTIA REFERENCE SYSTEM (STRAPPED-
DOWN)
2.2.1 BASIC PRINCIPLES

• Modern INS systems are known as IRS. They are completely solid-
state units with no moving parts.
• Three ring laser gyros replace the mechanical gyros in the older INS
platform systems.
• This eliminates precession and other mechanical gyro shortcomings.

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The IR processor calculates
these IR data values:
- Pitch
- Roll
- Yaw
- Latitude
- Longitude
- True heading
- Magnetic heading
- Inertial velocity vectors
- Linear accelerations
- Angular rates
- Track angle
- Wind speed and direction
- Inertial altitude
- Vertical speed and acceleration
- Ground speed
- Drift angle
Operation of RLG
• The light wavelengths compress or expand to
complete travel around the loop as the loop
changes its effective length.
• As the wavelengths change, the frequencies also
change
• By examining the difference in the frequencies of the
two counter-rotating beams of light, the rate at which
the path is rotating can be measured.
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Advantages of RLGs
• RLGs are very rugged and have a long service life with
virtually no maintenance due to their lack of moving parts.
• They measure movement about an axis extremely quickly and
provide continuous output.
• They are extremely accurate and generally are considered
superior to mechanical gyroscopes.

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Accelerometers

• The use of three solid-state accelerometers, one for each

plane of movement, also increases accuracy.
• The accelerometer and gyro output are input to the computer
for continuous calculation of the aircraft’s position.

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• The most modern IRS integrate is the satellite GPS.
• The GPS is extremely accurate in itself. When combined
with IRS, it creates one of the most accurate navigation
systems available.
• The GPS is used to initialize the IRS so the pilot no longer
needs to do so.
• GPS also feeds data into the IRS computer to be used for
error correction.
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• The IRS functions continuously and is completely self
contained within the IRS unit.
• Should the GPS falter (lose strength), the IRS portion of the
system continues without it.
• The latest electronic technology has reduced the size and
weight of INS/IRS avionics units significantly.

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IRS alignment and correction
• Although rigidly fixed to the aircraft, it has to be aligned
before the flight.
• But, the Virtual Platform is generated by the computer (no
physical orientation changed).
• A high-performance computer uses the data of RLG and
accelerometer to generate virtual platform using a software,
where aircraft position is related to the level position.
• This should be done with the aircraft in a fixed position.
• This reduces alignment time from 20 min to 10 min.
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THANK YOU!!!
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