Free-Inertial and Damped-Inertial Navigation Mechanization and Error Equations

The equations that describe both the navigation mechanization and the propagation of errors in an unaided inertial system are detailed. Extensions of these equations which apply to continuous speed and altitude damping are also given. A general vector-matrix notation is employed, thereby eliminating the need to specify a particular navigation mechanization before setting down the error equations. Specific application of the general equations to the local- level, wander-azimuth mechanization is outlined. The detailed form of the error equations is given for both the free-inertial case and various choices of continuous.