Hardware-in-the-loop testing of the NATO standardisation agreement 4572 interface using high precision navigation equations

This paper describes the development of a real-time navigation system, embodying high precision navigation equations, which was designed, built, and used by QinetiQ specifically for comprehensive hardware-in-the-loop testing of the STANAG 4572 inertial measurement unit interface standard. The results provided give confidence that the STANAG 4572 interface is fundamentally more than adequate for implementation within a deeply integrated (ultra-tightly-coupled) navigation system as well as an external test interface for deeply integrated navigation systems.