1. Date of download: 7/7/2016 Copyright © ASME. All rights reserved. From: Observability and Estimation Error Analysis of the Initial Fine Alignment Filter for Nonleveling Strapdown Inertial Navigation System J. Dyn. Sys., Meas., Control. 2012;135(2):021005-021005-9. doi:10.1115/1.4007552 Normalized error covariance during initial fine alignment Figure Legend:

2. Date of download: 7/7/2016 Copyright © ASME. All rights reserved. From: Observability and Estimation Error Analysis of the Initial Fine Alignment Filter for Nonleveling Strapdown Inertial Navigation System J. Dyn. Sys., Meas., Control. 2012;135(2):021005-021005-9. doi:10.1115/1.4007552 Simulation configuration Figure Legend:

3. Date of download: 7/7/2016 Copyright © ASME. All rights reserved. From: Observability and Estimation Error Analysis of the Initial Fine Alignment Filter for Nonleveling Strapdown Inertial Navigation System J. Dyn. Sys., Meas., Control. 2012;135(2):021005-021005-9. doi:10.1115/1.4007552 Roll angle estimation error Figure Legend:

4. Date of download: 7/7/2016 Copyright © ASME. All rights reserved. From: Observability and Estimation Error Analysis of the Initial Fine Alignment Filter for Nonleveling Strapdown Inertial Navigation System J. Dyn. Sys., Meas., Control. 2012;135(2):021005-021005-9. doi:10.1115/1.4007552 Pitch angle estimation error Figure Legend:

5. Date of download: 7/7/2016 Copyright © ASME. All rights reserved. From: Observability and Estimation Error Analysis of the Initial Fine Alignment Filter for Nonleveling Strapdown Inertial Navigation System J. Dyn. Sys., Meas., Control. 2012;135(2):021005-021005-9. doi:10.1115/1.4007552 Estimation error of x-axis accelerometer bias Figure Legend:

6. Date of download: 7/7/2016 Copyright © ASME. All rights reserved. From: Observability and Estimation Error Analysis of the Initial Fine Alignment Filter for Nonleveling Strapdown Inertial Navigation System J. Dyn. Sys., Meas., Control. 2012;135(2):021005-021005-9. doi:10.1115/1.4007552 Estimation error of y-axis accelerometer bias Figure Legend:

7. Date of download: 7/7/2016 Copyright © ASME. All rights reserved. From: Observability and Estimation Error Analysis of the Initial Fine Alignment Filter for Nonleveling Strapdown Inertial Navigation System J. Dyn. Sys., Meas., Control. 2012;135(2):021005-021005-9. doi:10.1115/1.4007552 Estimation error of z-axis accelerometer bias Figure Legend:

8. Date of download: 7/7/2016 Copyright © ASME. All rights reserved. From: Observability and Estimation Error Analysis of the Initial Fine Alignment Filter for Nonleveling Strapdown Inertial Navigation System J. Dyn. Sys., Meas., Control. 2012;135(2):021005-021005-9. doi:10.1115/1.4007552 Estimation error of x-axis gyro bias Figure Legend:

9. Date of download: 7/7/2016 Copyright © ASME. All rights reserved. From: Observability and Estimation Error Analysis of the Initial Fine Alignment Filter for Nonleveling Strapdown Inertial Navigation System J. Dyn. Sys., Meas., Control. 2012;135(2):021005-021005-9. doi:10.1115/1.4007552 Estimation error of y-axis gyro bias Figure Legend:

10. Date of download: 7/7/2016 Copyright © ASME. All rights reserved. From: Observability and Estimation Error Analysis of the Initial Fine Alignment Filter for Nonleveling Strapdown Inertial Navigation System J. Dyn. Sys., Meas., Control. 2012;135(2):021005-021005-9. doi:10.1115/1.4007552 Evaluation value Figure Legend: