School of Information and Control Engineering;
Liaoning Shihua University;
Fushun 113001;
Liaoning;
China;
Department of Applied Mathematics;
University of Waterloo;
Waterloo N2L3G1;
Canada;
College of Information and Communication Engineering;
Harbin Engineering University;
Harbin 150001;
China;
School of Electrical Engineering&Automation;
Harbin Institute of Technology;
Harbin 150001;
China;
inertial navigation; instrumentation and measurement; gyroscopes; accelerometers; Kalman filter; measurement errors;