1. EE 495 Modern Navigation Systems TAN Error Mechanization Fri, March 25 EE 495 Modern Navigation Systems Slide 1 of 7

2. TAN Error Mechanization Introduction Fri, March 25 EE 495 Modern Navigation Systems Objective:  Develop a differential equation which describes the PVA error propagation in terms of errors in the IMU measurements  In the case of the TAN frame this becomes: Slide 2 of 7

3. TAN Error Mechanization Attitude Error Equation Fri, March 25 EE 495 Modern Navigation Systems Slide 3 of 7

4. TAN Error Mechanization Attitude Error Equation Fri, March 25 EE 495 Modern Navigation Systems Slide 4 of 7

5. TAN Error Mechanization Velocity Error Equation Fri, March 25 EE 495 Modern Navigation Systems Slide 5 of 7

6. TAN Error Mechanization Position Error Equation Fri, March 25 EE 495 Modern Navigation Systems Finally, starting from the position equation suggests that, Slide 6 of 7

7. TAN Error Mechanization TAN State-Space Error Equation Fri, March 25 EE 495 Modern Navigation Systems Putting it all together Slide 7 of 7