Abstract
Error analysis plays an important part in the design and development of inertial navigation systems. It is through error analysis that the requirements on instruments accuracies are specified and the system performance is evaluated. Errors in an inertial navigation system can arise in a number of ways, i.e. accelerometer and gyro inaccuracies, misalignment of the instruments on the platform, initial errors in in the platform alignment, computational errors, and approximations in the mechanization of the system equations. In this chapter the error equations for arbitrary inertial navigation systems will be developed.
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