#### Inertial navigation

lesson

We learn how accelerometers and gyroscopes can be combined into an inertial navigation system capable of estimating position and orientation of a vehicle, without GPS.

lesson

We learn how accelerometers and gyroscopes can be combined into an inertial navigation system capable of estimating position and orientation of a vehicle, without GPS.

lesson

We combine what we’ve learnt about smoothly varying position and orientation to create smoothly varying pose, often called Cartesian interpolation.

lesson

The orientation of a body in 3D can also be described by a single rotation about a particular axis in space.

lesson

The orientation of a body in 3D can also be described by two vectors, often called the approach and orientation vectors.

lesson

A problem arises when using three-angle sequences and particular values of the middle angle leads to a condition called a singularity. This mathematical phenomena is related to a problem that occurs in the physical world with mechanical gimbal systems. Note that in Robotics, Vision & Control (second edition) and RTB10.x the default definition of roll-pitch-yaw […]

lesson

For a simple 2-link planar robot we introduce and derive its Jacobian matrix, and also introduce the concept of spatial velocity.

lesson

We learn how to use information from three magnetometers to determine the direction of the Earth’s north magnetic pole.

lesson

Much of what we know about robots comes from fiction. Let’s look at fictional robots and the underlying reality.

lesson

We summarise the important points from this lecture.