Abstract
filter resulting when the gyro drifts, accelerometer errors, and DME biases are neglected performs nearly optimally. Hence, alignment can be accomplished by using an eighth-order filter when using one VOR/DME, or a seventh-order filter when using two DME's. The quantitative results presented here are, of course, dependent upon the validity of the error models assumed. In particular, the VOR/DME error model proposed here has not been as thoroughly checked experimentally as the inertial navigation system model.
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