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Author: Weinred A., BarItzhack I.Y. Title: The PsiAngle Error Equation in Strapdown Inertial Navigation Systems Released: 1978 A detailed development is presented of the psiangle vector differential equation as applied to the error analysis of strapdown inertial navigation systems. The coordinate systems involved and the psi misalignment vector are clearly defined. It is proven that apart from a sign change the psiangle differential equation in the error analysis of strapdown inertial navigation systems is identical to the one used in conventional gimbaled inertial navigation systems. 