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Thispaperwilldiscussthedesignandimplementationofaninertialnavigationsystem(INS)usinganinertialmeasurementunit(IMU)andGPS.TheINSiscapableofprovidingcontinuousestimatesofavehicle’spositionandorientation.TypicallyIMU’sareveryexpensivesensors,howeverthisINSwillusea“lowcost”versioncostin
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