Abstract
Modern inertial navigation systems (INS) are usually augmented by various navigation aids to provide more accurate results for position, velocity, and attitude. However, the additional tasks require more computation time and, thus, increase the response time of the system. Traditionally, INS tasks are scheduled by the cyclic mechanism, i.e., tasks are executed one after another by the same period. In modern INS, the periods of tasks may differ greatly such that the utilization of computation resources and the control of response times by the cyclic mechanism is very inefficient. In this paper, we propose use of the rate-monotonic (RM) algorithm, the optimal real-time scheduling algorithm, in integrated INS to improve system performance. Simulation results are provided to compare system performance using the RM algorithm and the cyclic mechanism.