SINS	Strapdown inertial navigation system
SC	Self-calibration
ISC	Inclination self-calibration
${\mathit{a}}_c$	Calibrated accelerometer
${\mathit{a}}_m$	Accelerometer measurement
${\mathit{K}}_a$	Scaling matrix for accelerometer
${\mathit{s}}_a$	Non-orthogonal matrix for accelerometer
${\mathit{b}}_a$	Bias for accelerometer
${\mathit{n}}_a$	Noise for accelerometer
${\mathit{B}}_c$	Calibrated magnetometer
${\mathit{B}}_m$	Magnetometer measurement
${\mathit{K}}_b$	Scaling matrix for magnetometer
${\mathit{s}}_b$	Non-orthogonal matrix for magnetometer
${\mathit{b}}_b$	Bias for magnetometer
${\mathit{n}}_b$	Noise for magnetometer
$J_{G{I}_{BNO}}$	Performance error of gyroscope integration with data from BNO055
$J_{G{I}_{MPU}}$	Performance error of gyroscope integration with data from MPU9250
$J_{S{C}_{MPU}}$	Performance error of self-calibration with data from MPU9250
$J_{S{C}_{BNO}}$	Performance error of self-calibration with data from BNO055
$J_{Q_{BNO}}$	Performance error of native quaternion from BNO055
$J_{IS{C}_{MPU}}$	Performance error of inclination self-calibration with data from MPU9250
$J_{IS{C}_{BNO}}$	Performance error of inclination self-calibration with data from BNO055