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Inertial navigation is an “initial value” process in which a vehicle’s location is deduced by adding distances moved in known directions to the known position of the starting point. Errors in the deduced location come from imperfect knowledge of the starting conditions, from errors in the strapdown computation, and from errors in the gyros and accelerometers (referred to as sensors)...

Anthony Lawrence. Gyro and Accelerometer Errors and Their Consequences