A Preferable Airborne Integrated Navigation Method Based on INS and GPS

Table 1

The flight stages of aircraft.

Flight stage	Duration (s)	Acceleration (m/s^2)	Yaw (°)	Yaw rate (°/s)	Pitch (°)	Pitch rate (°/s)	Roll (°)	Roll rate (°/s)
Glide	20	2.5	45	0	0	0	0	0
Preparation for climbing	5	0	45	0	0	6	0	0
Climbing	100	0	45	0	30	0	0	0
Transformation level	5	0	45	0	30	−6	0	0
Uniform flight	200	0	45	0	0	0	0	0
Tilt to the left	20	0	45	0	0	0	0	1
Circle to the left	45	0	45	2	0	0	20	0
Exit circle	20	0	135	0	0	0	20	−1
Uniform flight	285	0	135	0	0	0	0	0