Error analysis of the ground based navigation test using extended kalman filtering

This paper considers the error analysis of the ground based navigation test of the strapdown type inertial navigation system. Using an extended Kalman filter, the biases in the inertial sensor are estimated in the static condition of the laboratory environment and the dynamic condition by the test car where another highly accurate instrument is carried to provide target states. The results show that the gyro bias estimates of the filter are within 0.2 deg/hr and the accelerometer biases are within 0.1 mg.