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acceleration accelerometers airframe assumed camera Cartesian Coordinate Systems constant coordinate system covariance matrix Cross-correlation between position cruising dynamics error in estimating external data Flight Control g(k+l gaussian given Hence image mapping image-mapping systems imaging system inertial navigation system initial position error initial velocity error k+l/k Kalman filter least squares loss function Mapping-Plane maximum likelihood mean square error mean square position mean value measurement nominal value ohmmeter reading ohms RMS optimum estimate P P P Polar Coordinate System position fix position-fix data probability density function problem proposed system random ranging computations raster recursive reference frame resistor example Resistor Value RMS error round-off errors sampling scale factor Schuler Loop Schuler period shown in Figure square position error system accuracy system model terrain peak terrain range terrain-following TV system updating the covariance vector velocity and tilt weighting factor x(k+l x(k+l/k x(k+l/k+l z(k+l