State-Space Measurement Update for GNSS/INS Integrated Navigation

Table 1

Full error state vector in GNSS/INS integration.

Variants	Description
	INS attitude error vector 3 × 1
	INS velocity error vector 3 × 1, usually given in n-frame
	INS position error vector 3 × 1, could be in e-frame, n-frame, or geodetic system
	INS attitude, velocity, and position error vector 9 × 1
	INS acceleration error vector in b-frame 3 × 1
	INS gyroscope error vector in b-frame 3 × 1
	IMU sensor error vector in b-frame 6 × 1
	Lever arm error vector from INS to GNSS centre in b-frame 3 × 1
	GNSS velocity error vector 3 × 1
	GNSS position error vector 3 × 1
	GNSS velocity and position error vector 6 × 1
	GNSS integer ambiguity error vector
	Other real states related to receiver, atmospheric delays, and satellite-related errors