Table 1.

State Vector of the Basic Algorithm.

State	Description	Symbol
1–3	Attitude error	$\Delta {\psi }_{nb}^n$
4–6	Velocity error	$\Delta v_{en}^n$
7–9	Position error	$\Delta p_{en}^n$
10–12	Gyroscope offset error	$\Delta b_{\omega }^b$
13–15	Accelerometer offset error	$\Delta b_a^b$
16	Error of GPS receiver clock bias	$\Delta c\delta t$
17	Error of GPS receiver clock drift	$\Delta c\delta \dot{t}$