Simulation conditions for the static alignment:

$L=32°$, $g=9.8\mathrm{m}/{\mathrm{s}}^2$, $w_{ie}=7.2921158\times {10}^{‒5}\mathrm{rad}/\mathrm{s}$, ${[\text{roll},\text{pitch},\text{yaw}]}^{\text{T}}={[10°,10°,10°]}^{\text{T}}$,

${[{\nabla }_x,{\nabla }_y,{\nabla }_z]}^{\text{T}}={[{10}^{-4},{10}^{-4},{10}^{-4}]}^{\text{T}}\times g$ , ${[{\epsilon }_x,{\epsilon }_y,{\epsilon }_z]}^{\text{T}}={[0.01,0.01,0.01]}^{\text{T}}°\text{/h}$,

${[{\sigma }_{f_x},{\sigma }_{f_y},{\sigma }_{f_y}]}^{\text{T}}={[5\times {10}^{-5},5\times {10}^{-5},5\times {10}^{-5}]}^{\text{T}}\times g$ , ${[{\sigma }_{w_x},{\sigma }_{w_y},{\sigma }_{w_z}]}^{\text{T}}={[0.005,0.005,0.005]}^{\text{T}}°\text{/h}$