Φk	dynamic state transition matrix at epoch k
Γuk	input coefficient matrix at epoch k
Γwk	process noise matrix at epoch k
${\overrightarrow{u}}_k$	control input vector of IMU measurements of the specific force and angular rate
${\overrightarrow{w}}_k$	process noise vector at epoch k
$K_k$	Kalman gain at epoch k
${\overrightarrow{Z}}_k$	estimate of the measurement produced by the states estimated by the Kalman filter
$H_k$	measurement matrix at epoch k
$r_k$	EKF innovation vector at epoch k
${\overrightarrow{\phi }}_b^e$	attitude vector (rad)
${\overrightarrow{v}}_{eb}^e$	velocity vector (m/s)
${\overrightarrow{r}}_{eb}^e$	position vector (m)
$C_b^e$	coordinate transformation matrix from the body frame to the Earth frame
${\overrightarrow{\omega }}_{ie}^e$	Earth rotation rate (rad/s)
${\overrightarrow{g}}^e$	gravity vector in the Earth-centered Earth-fixed frame (m/s2)
$\left[•\times \right]$	calculates a skew-symmetric matrix
$\Delta {\overrightarrow{\omega }}_{ib}^b$	gyroscope fault vector (rad/s)
$\Delta {\overrightarrow{f}}_{ib}^b$	accelerometer fault vector (m/s2)
$\Delta C_b^e$	difference between the true transformation matrix and the faulty transformation matrix
$\Delta {\overrightarrow{v}}_{eb}^e$	difference between the true velocity vector and the faulty velocity vector (m/s)
${\overrightarrow{f}}_{ib,meas}^b$	IMU measurement of the specific force (m/s2)
${\overrightarrow{\omega }}_{ib,meas}^b$	IMU measurement of the angular rate (rad/s)
${\overrightarrow{f}}_{ib}^b$	true value of the specific force (m/s2)
${\overrightarrow{\omega }}_{ib}^b$	true value of the angular rate (rad/s)
${\overrightarrow{b}}_a$	accelerometer bias (m/s2)
${\overrightarrow{b}}_g$	gyroscope bias (rad/s)
$G_g$	g-dependent bias related to the specific force (rad·s/m)
${\overrightarrow{w}}_a$	accelerometer process noise
${\overrightarrow{w}}_g$	gyroscope process noise