Statistical estimation of navigation errors

An algorithm for estimating navigation system accuracy without the use of so-called ground truth data is presented. The estimates are expressed in terms of system covariance matrices and relative bias vectors; if one of the systems is a dead-reckoning (DR) or inertial system, the algorithm also estimates drift rate parameters. A summary of tests with US Navy ships backs up the results of Monte Carlo testing. The algorithm should also have applications outside the field of navigation