Inertial Navigation and Simultaneous Localization and Mapping Figure 7. a. The estimated north and b. east position errors with uncertainties. The errors are from 12 Monte Carlo simulations in which the error (in blue trace) is found by taking the difference between the estimates and the true values. The navigation accuracy is mostly dependent on the SLAM system, because even with a single GNSS SV, the accuracy improves from the loop closures, as can be seen around 60 and 170 s. 30 IEEE A&E SYSTEMS MAGAZINE AUGUST 2017