Introduction - If you have any usage issues, please Google them yourself
This paper provides a rigorous comprehensive approach to the design of the principal software
algorithmsutilized inmodern-day strapdown inertial navigationsystems: integration of angular rate into attitude,
acceleration transformation/integration into velocity, and integration of velocity into position.
Packet : 121114135strapdowninertialnavigationintegration.rar filelist
StrapdownInertialNavigationIntegration.pdf