Fig. 1. Navigation error curves caused by G-sensitive drift of laser gyro

Fig. 2. Unified 48-sequence rotation scheme

Fig. 3. Flow chart of long-endurance navigation test

Fig. 4. Carrier motion state during eight navigation experiments

Fig. 5. Time sequence of experimental data acquisition during eight navigation experiments

Fig. 6. Long-endurance navigation verification test

Fig. 7. Position error curve of three typical voyages in 37 day navigation test

Fig. 8. Position error curve of 3 typical tests in 8 independent voyages

Fig. 9. Test vehicle and track for dynamic test

Fig. 10. Results of three vehicular navigation tests