> For the complete documentation index, see [llms.txt](https://docs.phoenixlidar.com/llms.txt). Markdown versions of documentation pages are available by appending `.md` to page URLs; this page is available as [Markdown](https://docs.phoenixlidar.com/hardware-and-interfaces/gnss.md).

# Inertial Navigation System

The Inertial Navigation System (INS) on a lidar system uses sensor fusion to combine measurement inputs, such as IMUs, GNSS receivers, and wheel sensors (or odometers) to produce a unified estimate for position and attitude.&#x20;

Components of the INS are described in this section.&#x20;