A Natural Approach to the A Priori Error Estimation of Navigation Systems

This report presents a straightforward method of analyzing the mean squared error of position location systems. The approach presented is basically an analysis of the first order total differential of the equation used to relate the measurement to the position and/or other states to be determined. The resultant error equation is of a general form and can be used to statistically analyze any position location system. As an application of this methodology, the general mean squared location error equation is applied to a range measurement only navigation system. Several forms of this type of system are studied although no numerical results are presented. All results are presented in an analytical form. (Author)