Block 2 — Inertial Error Growth and State Propagation

Block 02~60 min2 demos

Examines how small IMU errors integrate into velocity and position drift, introduces the bias, random-noise, and Gauss-Markov models, covers Allan variance as the standard ground test for IMU error parameters, defines the navigation state and covariance, and explains why inertial drift tests must observe at least one full Schuler cycle (~85 minutes).

What you’ll learn

1. Explain why inertial navigation errors grow over time.

2. Trace how small sensor errors propagate into velocity and position errors.

3. Identify the common error models used in navigation systems: bias, random walk, and Gauss-Markov.

4. Define the navigation state and explain what state propagation does.

5. Interpret inertial drift using simple operational metrics, including drift slope in NM/hr and the role of the Schuler cycle.

In this block

Reading

Reading

IMU error models, drift, and the Schuler cycle.

Flashcards

Flashcards

Click-to-reveal cards for the block's key terms and equations.

Demo

Demo · Error Integration

Add a constant bias to a noisy accelerometer signal and watch velocity and position grow.

Demo

Demo · Inertial Drift

Run a free-inertial coast over hours and see Schuler oscillation emerge.