Derives and validates via simulation and field test a first-order attitude error propagation model for fixed-length sliding-window velocity-integral OBA using Davenport's q-method.
A fast in-motion alignment method for INS/DVL in rough sea conditions,
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Optimization-Based Velocity-Integral Sliding-Window Coarse Alignment: Attitude Error Analysis and Validation
Derives and validates via simulation and field test a first-order attitude error propagation model for fixed-length sliding-window velocity-integral OBA using Davenport's q-method.