Fundamentals of high accuracy inertial navigation

TLDR: In this article, a central force gravity field model is used for inertial navigation with assistance from external measurements. But this model is not suitable for the Kalman Filter State Variable Error Models.

Abstract: Part 1 Inertial Navigation: Notation, Coordinate Systems and Units Equations of Motion in a Central Force Gravity Field Inertial Instrumentation Calibration Initial Alignment and Attitude Computation Geodetic Variables and Constants Equations of Motion with General Gravity Model. Part 2 Inertial Navigation with Aids: Inertial Navigation with External Measurements Error Equations for the Kalman Filter State Variable Error Models. Part 3 Accuracy Analysis: Accuracy Criteria and Analysis Techniques Error Equations for Calibration, Alignment and Initialization Evaluation of Gravity Model Error Effects. Appendices: Matrix Inverse Formulas LaPlace Transforms Quaternions Associated Legendre Functions Associated Legendre Function Derivatives Procedure for Generating Gravity Disturbance Realizations Procedure for Generating Specific Force Profile.