Lgorithms for a strapdown inertial navigation system 并列题名：Lgorithms for a strapdown inertial navigation system Initial alignment for strapdown inertial navigation system Rotary modulation strapdown inertial navigation system Magnetometer aided interial navigation system Initial alignment theories and methods for strapdown inertial navigation system Sea experiment for marine inertial navigation system 并列题名：Magnetometer aided interial navigation system Models and algorithms for three dimensional spatial information system