You are unlikely to find much mathematical detail on a website such as this which is aimed primarily at pilots and maintenance personnel, not design engineers.
If it is for an academic course mathematics task, presumably you will not object to spending a little money on a textbook, which you can then use as a quoted reference?
I can recommend 'Introduction to Avionics' by R P G Collinson published by Chapman and Hall, ISBN No 0-412-48250-9. I have no connection with the author and no financial interest in this book, but we have a copy in our college library and I think that it is very good. It covers INS mathematics up to a good degree standard and it is modern - it even uses the Eurofighter Typhoon as a worked example for the mathematics of the platform.
Last edited by oxford blue; 22nd May 2003 at 04:31.