Further results on "Velocity-position integration formula, part I-Application to in-flight alignment"

Our recent work [1] proposed a coarse in-motion alignment method, in which the adverse effect of the Global Positioning System (GPS) antenna lever arm was reported. The current note improves [1] by accounting for the prior knowledge of the lever arm. This note uses the same set of symbols as in [1] for brevity. Suppose the GPS antenna is rigidly fixed relative to the inertial navigation system (INS) and the lever arm from INS to the GPS antenna is b l , expressed in the body frame, then the GPS antenna velocity and position is related to the INS position and velocity by [2]