Simulation parameters.

Table 1: Simulation parameters.

Initial position	East longitude	108.9°
	North latitude	34.2°
	Altitude	5000 m
Initial velocity	East	0 m/s
	North	150 m/s
	Up	0 m/s
Initial attitude	Pitch	0°
	Roll	0°
	Yaw	0°
Initial position error	East longitude	8 m
	North latitude	8 m
	Altitude	12 m
Initial velocity error	East	0.5 m/s
	North	0.5 m/s
	Up	0.5 m/s
Initial attitude error	Yaw	1.5'
	Pitch	1'
	Roll	1'
Gyro parameters	Constant drift	0.01°/h
Gyro parameters	Random walk coefficient	0.001°/√h
Accelerometer parameters	Constant bias	10^-4 g
Accelerometer parameters	Random walk coefficient	10^-5 g • √s
SAR parameters	Horizontal position error	10 m
	Heading angle error	60"
	Sampling frequency	1 Hz
Barometric altimeter parameters	Altitude error	10 m
Barometric altimeter parameters	Sampling frequency	1 Hz