$\mathbf{q}\left(t\right)$	attitude represented by quaternion at time t: $\mathbf{q}\left(t\right)={\left(q_0\left(t\right),q_x\left(t\right),q_y\left(t\right),q_z\left(t\right)\right)}^T$
	where $q_0\left(t\right)$ is the scalar part and $(q_x\left(t\right),q_y\left(t\right),q_z\left(t\right))$ is the vector part of the quaternion
$\mathbf{x}\left(t\right)$	location at time t: $\mathbf{x}\left(t\right)={\left(x\left(t\right),y\left(t\right),z\left(t\right)\right)}^T$
$\mathbf{v}\left(t\right)$	velocity at time t: $\mathbf{v}\left(t\right)=\frac{d\mathbf{x}\left(t\right)}{dt}={\left(v_x\left(t\right),v_y\left(t\right),v_z\left(t\right)\right)}^T$
$\mathit{\omega }\left(t\right)$	rotational velocity measured by gyroscope in the instrument coordinate frame at time t:
	$\mathit{\omega }\left(t\right)={\left({\omega }_x\left(t\right),{\omega }_y\left(t\right),{\omega }_z\left(t\right)\right)}^T$
$\mathbf{a}\left(t\right)$	acceleration measured in the instrument coordinate frame at time t:
	$\mathbf{a}\left(t\right)={(a_x\left(t\right),a_y\left(t\right),a_z\left(t\right))}^T$
${\mathbf{z}}_{\mathbf{x}}\left(t\right)$	measurement of location at time t: ${\mathbf{z}}_{\mathbf{x}}\left(t\right)={(z_x\left(t\right),z_y\left(t\right),z_z\left(t\right))}^T$
${\mathbf{z}}_{\mathbf{v}}\left(t\right)$	measurement of velocity at time t: ${\mathbf{z}}_{\mathbf{v}}\left(t\right)={(z_{v_x}\left(t\right),z_{v_y}\left(t\right),z_{v_z}\left(t\right))}^T$
${\mathbf{z}}_{\mathbf{m}}\left(t\right)$	measurement of magnetic field in the instrument coordinate frame at time t:
	${\mathbf{z}}_{\mathbf{m}}\left(t\right)={(z_{m_x}\left(t\right),z_{m_y}\left(t\right),z_{m_z}\left(t\right))}^T$
$z_h\left(t\right)$	measurement of altitude at time t
$b_h\left(t\right)$	bias in altitude measurement at time t: $z_h\left(t\right)=z\left(t\right)+b_h\left(t\right)$
${\mathbf{b}}_{\mathit{\omega }}\left(t\right)$	bias in angular rate measurement at time t: ${\mathbf{b}}_{\mathit{\omega }}\left(t\right)={\left(b_{{\omega }_x}\left(t\right),b_{{\omega }_y}\left(t\right),b_{{\omega }_z}\left(t\right)\right)}^T$
$s_{\mathbf{a}}\left(t\right)$	scale factor in acceleration measurement at time t
$\mathbf{g}$	gravitational acceleration regarded as constant throughout the implementation
	in the northeast down (NED) coordinate system
$\mathbf{m}$	geomagnetic field appropriate for a location in the NED coordinate frame that is considered
	to be constant throughout the experiment: $\mathbf{m}={(m_x,m_y,m_z)}^T$
${\mathbf{e}}_d$	$3\times 1$ unit vector in the direction d, where $d\in \{x,y,z\}$