This paper derives basic error equations of inertial navigation which apply to any properly constructed inertial navigator. The equations are deduced from the integral equations of inertial navigation by a vectorial analysis. A major result of this analysis is a set of fundamental error propagation equations that has apparently been missed. These equations regard the absolute navigational errors. The conventional velocity and position errors are shown to be transfer errors.
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George Arshal (1987) studied this question.