手法を比較

	INS誤差モデル	デッドレコニング（Dead Reckoning）
分野	航空宇宙工学	航空宇宙工学
系統	Process / pipeline	Process / pipeline
提唱年	1960s	1940s
提唱者	Schuler and others	Maritime navigation tradition
種類	Stochastic model	Navigation method
原典	Titterton, D. H., & Weston, J. L. (2004). Strapdown Inertial Navigation Technology (2nd ed.). Institution of Engineering and Technology.	Savage, P. G. (2007). Strapdown Inertial Integration Technology (2nd ed.). Strapdown Associates.
別名	INS error analysis, error state kalman filter, ESKF	ded reckoning, inertial navigation, odometry
関連	3	3
概要	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.	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.