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Inertial navigation is a dead reckoning positioning method based on the measurement and 10 mathematical processing of the vehicle absolute acceleration and angular speed in order to 11 estimate its attitude, speed and position related to different reference. Due to the specific 12 operation principle, the positioning errors for this method result from the imperfection of the 13 initial conditions knowledge, from the errors due to the numerical calculation in the inertial 14 system, and from the accelerometers and gyros errors. Therefore, the inertial sensors perform‐ 15 ances play a main role in the establishment of the navigation system precision, and should be 16 considered in its design phase frames (Bekir, 2007; Farrell, 2008; Grewal et al., 2013; Grigorie, 17 2007; Salychev, 1998; Titterton and Weston, 2004). 18

Modelling and Simulation Based Matlab/Simulink of a Strap- Down Inertial Navigation System’ Errors due to the Inertial Sensors