Estimating Conservative Error Bounds for INS Output Error

This paper examines the problem of estimating conservative error bounds of inertial navigation systems when they are used as part of an integrated navigation system designed around a low cost inertial measurement unit (automotive/commerical grade). This is done by recasting the inertial navigation error equations for low cost sensors in a form which allows proving that the time update equations can be statistically overbounded. The resulting overbounds, however, are shown to be overly conservative.