Summarizing the above errors we conclude that total INS error would be, in ¡Vbest-case scenario: 0.375 km over 5,000 km + 0.028 km over 800 km + 0.01 km over 5,000 km = 560 m ~ þ° km ¡Vworst-case scenario:1 km over 5,000 km + 0.140 km over 800 km + 0.05 km over 5,000 km = 1925 m ~ 2km.