Single-Channel Simulation with Accel Bias:
INSDEM05 is a demo included in the toolbox which performs a single channel simulation. A static vehicle is located at 45 degrees north latitude and is pointed north. A 100 micro-g bias is placed on the north accelerometer. The result of the simulation is:



According to theory, velocity error as a function of accelerometer bias is a zero-mean sinusoid with a peak value of 0.026 feet/sec per micro-g of accel bias. For 100 micro-g, then, the peak velocity error should be approximately 2.6 feet/sec or 0.8 m/s. This is observed to be the case in the above plot. Similarly, theory says that the position error should be a biased sinusoid ranging from zero up to a peak value of 0.007 nautical miles per micro-g. In this case the peak should be 0.7 nautical miles which corresponds approximately to 42 arc-seconds. Again, this is observed to be the case in the plot.


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