Abstract: An Inertial Navigation System (INS) is a device that estimates the position of a moving object in real time from measurements of inertial sensors. The work presented here is a first approach to INS, where acceleration is measured periodically and position is estimated externally. Data fusion and position calculations is achieved by use of the Kalman Filter. The main hardware consists of NXP's LPC1343 stick and Bosch BMA180 accelerometer. Position estimation is achieved using a 2D machine vision system based on an inexpensive webcam and a computer software running on an external PC, which also handled data transfer with the MCU through its serial port, and presented the graphical user interface.
Authors: Pablo Granell and Andres Kasulin