a href="#5">INITIAL VALUES AT INS TIME = 1</a>
</li>
<li>
<a href="#6">INITIALIZATION OF KALMAN FILTER MATRICES</a>
</li>
<li>
<a href="#7">INS (IMU) TIME IS THE MASTER CLOCK</a>
</li>
<li>
<a href="#9">INERTIAL NAVIGATION SYSTEM (INS)</a>
</li>
<li>
<a href="#10">ZUPT DETECTION ALGORITHM</a>
</li>
<li>
<a href="#11">KALMAN FILTER UPDATE</a>
</li>
<li>
<a href="#13">MEASUREMENTS</a>
</li>
<li>
<a href="#14">KALMAN FILTER</a>
</li>
<li>
<a href="#15">OBSERVABILITY</a>
</li>
<li>
<a href="#16">INS/vor_dme COR