手法を比較

	デッドレコニング（Dead Reckoning）	INS誤差モデル
分野	航空宇宙工学	航空宇宙工学
系統	Process / pipeline	Process / pipeline
提唱年	1940s	1960s
提唱者	Maritime navigation tradition	Schuler and others
種類	Navigation method	Stochastic model
原典	Savage, P. G. (2007). Strapdown Inertial Integration Technology (2nd ed.). Strapdown Associates.	Titterton, D. H., & Weston, J. L. (2004). Strapdown Inertial Navigation Technology (2nd ed.). Institution of Engineering and Technology.
別名	ded reckoning, inertial navigation, odometry	INS error analysis, error state kalman filter, ESKF
関連	3	3
概要	Dead Reckoning is a fundamental navigation method that estimates position and heading by integrating velocity and angular rate measurements from inertial sensors over time, without external references such as GPS. The term derives from maritime tradition ('deduced reckoning') and remains a cornerstone of aerospace and autonomous vehicle navigation. Dead reckoning works reliably in GPS-denied environments and is the baseline navigation method when external navigation aids are unavailable.	The INS Error Model is a mathematical framework that characterizes how errors in inertial sensor measurements propagate through a navigation system's estimates of position, velocity, and attitude. Developed during the 1960s and refined through decades of navigation research, the error model enables design of optimal estimation filters (e.g., Kalman filters) that fuse inertial measurements with external references (GNSS, LiDAR, cameras) to bound and correct accumulated errors. The error model is fundamental to understanding and improving inertial navigation performance.