Aerospace and Electronic Systems Magazine August 2017 - 45

Nusbaum and Klein
[13]

CONCLUSIONS
In this article, we presented a state-of-the-art review of GF-INS
and compared it to the classical INS architecture for six categories. After reviewing the unified GF models, stability analysis
showed that the addition of the angular velocity error states into
the state-space model results in at least one eigenvalue inside
the RHP diverging the system. In addition, the observable and
unobservable subspaces were analytically derived for the GF FA
process with velocity measurements. It was shown that regardless of the GF configuration, the observability matrix rank is
always 10.

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