A least squares approach to size effect in inertial navigation

This paper deals with the size effect problem in high-end Inertial Navigation Systems (INS). A focus is given to velocity errors in the geographical frame, which endure even after dynamic angular conditions are terminated. A least squares (LS) approach is taken to derive an algorithm for size effect compensation. The suggested algorithm implementation is based on low computation rate and does not involve highsampled increments. A performance analysis of the algorithm is presented, both in simulation and in real-life systems´ tests.