Inertial-navigation.md

@@ -2,11 +2,13 @@ Inertial navigation is a method of determining a vehicle's position and velocity
 
 The basic principle of inertial navigation is to use the laws of motion to calculate the position and velocity of a moving object. The accelerometers in the system measure the linear acceleration of the vehicle, and the gyroscopes measure the angular velocity. These measurements are then integrated over time to calculate the position and velocity of the vehicle.
 
-Inertial navigation systems are composed of three main components:
+**Inertial navigation systems are composed of three main components:**
 
--   Accelerometers: sensors that measure linear acceleration in different directions
--   Gyroscopes: sensors that measure angular velocity about different axes
--   Microprocessor-based navigation computer: which uses the information from the accelerometers and gyroscopes to calculate the position and velocity of the vehicle.
+**-   Accelerometers:** sensors that measure linear acceleration in different directions
+
+**-   Gyroscopes:** sensors that measure angular velocity about different axes
+
+**-   Microprocessor-based navigation computer:** which uses the information from the accelerometers and gyroscopes to calculate the position and velocity of the vehicle.
 
 The system uses a combination of dead reckoning and Kalman filtering to calculate the position and velocity of the vehicle. Dead reckoning is the process of using the initial position and velocity of the vehicle and integrating the accelerometer and gyroscope measurements to estimate the position and velocity of the vehicle over time. Kalman filtering is a method of estimating the state of a system using a mathematical model and measurement data.