Geodesic
Estimation of instrumental errors for an inertial navigation system using the Schuler period
Vestnik Moskovskogo universiteta. Matematika, mehanika, no. 4 (2009), pp. 56-60

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The control problem with consideration of the Schuler period is a special operation mode of the INS-2000 platform inertial navigation system. This mode is used to check the consistency between the calibration parameters of INS sensors and their actual values. Some error equations of INS-2000 are proposed for this mode. Feasible estimation algorithms for INS instrumental errors are tested on model data. 
@article{VMUMM_2009_4_a10,
     author = {O. V. Demidov},
     title = {Estimation of instrumental errors for an inertial navigation system using the {Schuler} period},
     journal = {Vestnik Moskovskogo universiteta. Matematika, mehanika},
     pages = {56--60},
     publisher = {mathdoc},
     number = {4},
     year = {2009},
     language = {ru},
     url = {http://geodesic.mathdoc.fr/item/VMUMM_2009_4_a10/}
}
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O. V. Demidov. Estimation of instrumental errors for an inertial navigation system using the Schuler period. Vestnik Moskovskogo universiteta. Matematika, mehanika, no. 4 (2009), pp. 56-60. http://geodesic.mathdoc.fr/item/VMUMM_2009_4_a10/