TABLE OF CONTENTS This chapter describes commonly used dead-reckoning (DR) techniques other than inertial navigation (Chapter 5). These measure the motion of the user with respect to the environment without the need for radio signals or extensive feature databases. However, an initial position solution must be supplied, as described in Section 5.5.1 for inertial navigation.
Magnetic field and pressure measurements may legitimately be classed as either dead reckoning or feature matching. They are described here alongside dead reckoning, as they are commonly used in the computation of a dead-reckoning navigation solution.
Section 10.1 describes attitude measurement, including the magnetic compass. Section 10.2 describes height and depth sensors. Sections 10.3 and 10.4 describe odometers and pedestrian dead reckoning, respectively. Section 10.5 describes Doppler radar and sonar. Finally, Section 10.6 discusses some other dead-reckoning techniques, including image processing and the ship's log.
A number of attitude determination methods have been described in previous chapters. Inertial navigation (Chapter 5) determines attitude from angular rate measurements following a suitable initialization, while GNSS user equipment may measure attitude with multiple antennas, as described in Section 8.2.2. This section discusses roll and pitch measurement using accelerometers or tilt sensors, and then describes heading measurement using a magnetic compass. It concludes with a discussion of integrated heading measurement and the attitude and heading reference system.
As described in Section 5.5.2, the roll and pitch attitude components of an inertial navigation solution are commonly initialized using leveling. The accelerometer triad is used to detect the...
