in this paper, we will explain how to model latitude and longitude errors in order to then implement and filter the results. Firstly, we have modelled the series of errors with which the IMU are affected: first those due to the chosen reference, then to the technology of the strapdown platform. Afterwards we have reproduced the process of reworking the position data by inserting the error model. Finally, we evaluated the drift of error over time not only qualitatively but also quantitatively.
Petritoli, E., Leccese, F., Schirripa Spagnolo, G. (2020). Inertial Navigation Systems (INS) for Drones: Position Errors Model. In 2020 IEEE International Workshop on Metrology for AeroSpace, MetroAeroSpace 2020 - Proceedings (pp.500-504). 345 E 47TH ST, NEW YORK, NY 10017 USA : Institute of Electrical and Electronics Engineers Inc. [10.1109/MetroAeroSpace48742.2020.9160304].