Читать книгу Global Navigation Satellite Systems, Inertial Navigation, and Integration - Mohinder S. Grewal - Страница 100

Besides models for mitigating sensor errors, inertial navigation systems require internal models for the external world in which they must navigate. These models define the navigation coordinates to be used, including any departures from inertial coordinates. For terrestrial navigation, those departures include gravity, rotation, and the non‐rectilinear shapes of Earth‐fixed coordinates.