Free Azimuth Simulation:
In the free azimuth case, the vertical component of craft rate is set to zero. As a result, the computed azimuth (yaw) remains constant. The actual heading is given by yaw-minus-wander-angle. Note that the wind is assumed to be zero thus the heading is also the aircraft course.



Since the local-level frame is NOT east-north-up (ENU), additional computation is required to determine east and north velocities:





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