An historical perspective on inertial navigation systems

Inertial navigation provides a unique ability to know where one has been, where one is currently, and where one is going, given only a starting position. The laws of physics permit the sensing of dynamic motion without external information, making inertial systems impervious to jamming, masking, or spoofing. Measurements of six degrees of freedom are required - three linear accelerations, and three angular rates - to fully propagate the velocity, position, and orientation of the system. The first inertial sensors are traced to the early 19^th century and specialized inertial guidance systems appeared in the 1940s, yet inertial navigation systems did not become commonplace until the 1960s. This is largely due to the fact that requirements for navigation accuracy inertial sensors - accelerometers and gyroscopes - are very challenging. In the past fifty years, significant evolutionary and revolutionary changes have taken place in the designs of inertial sensors and systems. These include the progression from fluid-filled to dry instruments and the transition from mechanically complex stabilized inertial platforms to computationally intensive strapdown systems. Gyroscopes have evolved from large mechanical devices to highly refined precision mechanical sensors. Optical rotation sensors such as the ring laser gyro and the fiber optic gyro have enabled new system designs and capabilities. Coriolis vibratory gyroscopes such as the hemispherical resonator gyro are capable of extreme accuracy and reliability; new opportunities for miniaturizing these types of sensors will lead to new classes of accuracy for inertial navigation systems. Advanced gyroscope technologies such as the nuclear magnetic resonance gyroscope which uses atomic spin to detect rotation have already been demonstrated to achieve navigation accuracy requirements. Cold atom technologies may also provide the opportunity for very high accuracy accelerometers and gyroscopes in the future. Inertial na- igation technologies and applications of the past, present, and future are discussed.