On inertial navigation system error correction

A simple algorithm for the integration of inertial and global navigation systems, magnetometer, and barometric altimeter is considered. The algorithm is capable of compensating the biases of angular-rate sensors. A number of simplifying assumptions are made. This is because the sensors of the system are not very accurate, on the one hand, and, on the other hand, such systems are intended for objects (such as low-cost unmanned aerial vehicles) that move with low speed over relatively short distances. An example is considered to demonstrate the advisability of compensating the biases of angular-rate sensors