Implementation of medium and low precision IMUs for the design of integration architectures

The paper discusses in more detail some ways of modeling errors of inertial sensors and the way of testing the INS model case. Kalman filtering represents an important and sophisticated mathematical algorithm from the point of view of integration of navigation systems, which ensures the estimation of state variables. The implementation of this mathematical tool in program form requires the analysis of the dynamic system for which this filter is designed. In order to apply Kalman filtering, linearization is necessary, which, depending on the design, creates the possibility of applying a linearized KF or an extended KF estimation algorithm.