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Inertial navigation is used in a wide range of applications including the navigation of aircraft, tactical and strategic missiles, spacecraft, submarines and ships.

Note: The individual bug fixes for Amber Tools are described below in case you want to see what they do, or you don't want to use update_amber for some reason.

For versions of Amber Tools older than version 12, see the instructions associated with that particular version, although we strongly suggest upgrading to the latest version since numerous bugs have been fixed and they are actively supported.

A new zero detection algorithm is proposed in the paper, where only one gyroscope value is used.

A Markov model is constructed using segmentation of gyroscope outputs instead of using gyroscope outputs directly, which makes the zero velocity detection more reliable.

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