Abstract
An inertial gyrocompassing and platform leveling system, which attempts to infer the attitude errors of an inertial platform by observing the change in measured acceleration as the Earth's gravity vector rotates through the inertial coordinate frame, is investigated with respect to observability. The approach taken is based on the physical effects of a changing gravity vector in an inertial coordinate system. The general equations are posed in terms of generalized gyro drifts, which are transformations of the component drifts. A method is then presented by which steady-state rms error can be determined from the generalized gravity equations.
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