A Preferable Airborne Integrated Navigation Method Based on INS and GPS

Figure 7

Estimation of position. (a) Calculation of east position. (b) Calculation of north position. (c) Calculation of upward position. (d) Estimation of east position error. (e) Estimation of north position error. (f) Estimation of upward position error.

(a)

(b)

(c)

(d)

(e)

(f)