navigation error propagation

Todays, one of the topics that is of particular importance in the field of navigation is the use of navigation error propagation equations in order to integrate the output of an inertial navigation system with an external measurement to take advantages of both the inertial navigation mechanism and the external measurement. Study of past research Show that error propagation equations are generally extracted in a geographic frame that can have weaknesses. This paper demonstrates how to extract the error propagation equations in a tangent frame that not only have more simplicity than the geographic frame but also have a higher accuracy in describing the inertial navigation error propagation and thus increase the efficiency of the integrated navigation system. Finally, simulations in two cases using the tangent error propagation model and the geographic error propagation equations are performed by considering the hypothetical values for the acceleration and angular velocities and random error of the sensors. The results of the simulations also confirm the increasing of accuracy of the proposed error propagation model in this paper.ns in this paper also confirm the validity of this issue.