Geodesic
Determination of instrument errors for inertial navigation system on a stationary base
Fundamentalʹnaâ i prikladnaâ matematika, Tome 11 (2005) no. 7, pp. 159-166.

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In inertial navigation, topographic location, and airborne gravimetry, the defining influence on accuracy has the knowledge of the instrument error models and the parameter values for these models. The possibility to determine these parameters for platform-based inertial navigation systems without using special stands is considered. High observability of relevant parameters stems from the gyro platform angular evolution that results in large deviations from the initial state. This is delivered by a special mode of the gyro platform control. Instead of formal determination of the observable and unobservable components, the quality of calibration is measured by its influence on the accuracy of navigation. 
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N. A. Parusnikov; V. V. Tikhomirov; S. A. Trubnikov. Determination of instrument errors for inertial navigation system on a stationary base. Fundamentalʹnaâ i prikladnaâ matematika, Tome 11 (2005) no. 7, pp. 159-166. http://geodesic.mathdoc.fr/item/FPM_2005_11_7_a10/

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