چكيده به لاتين
Abstract Nowaday's Most navigation systems are based on the Global Positioning System, which can provide reliable and accurate information about the position and velocity of the target. However, the geographical conditions of the planet, ie mountains, dense forests, tall buildings, or other obstacles, Causes satellites less accurate due to lack of a direct line of sight(LOS) with the receiver, other sources of intentional and unintentional error. On the other hand, the inertial navigation system(INS) consists of an inertial measurement unit(IMS), an independent system that is efficient in any weather conditions and can provide continuous information of position, velocity, and attitude without being affected by environmental conditions. The advantages of INS include high reliability over jamming and high data transfer rate. However, due to the variety of noises and the frequent Integral from the output of the accelerometer and gyroscope sensors, the accuracy of the INS system decreases over time and the information of position, velocity, and attitude diverges. The effect and amount of sensor noise are inversely related to the price of inertial sensors. Array inertial sensors make it possible to improve and extend the measurement capability compared to Commercial grade sensors. The concept of an inertial sensor array is to combine several accelerometer and gyroscope elements as an extension to achieve capabilities that would not normally be possible. In summary, these achievable capabilities include higher accuracy, reliability and uncertainty estimation, higher dynamic measurement range, angular motion estimation of accelerometer data, and direct angular acceleration estimation. In this thesis, several accelerometer sensors and commercial grade gyroscopes are combined in an array to reduce noise components and increase navigation accuracy. Also, inertial and GPS sensors in the MATLAB environment have been modeled and the navigation algorithm has been simulated, and the comparison of the output of the integrated sensors with the normal mode shows an increase in navigation accuracy and a reduction in noise components.