# Estimating Primary Antenna Lever Arm

## **Estimate Primary Lever Arms**

NavLab computes X iterations (specified by user) and the resulting lever arm measurement convergence is plotted below, with the X axis showing iteration number, and the Y axis showing lever arm offsets colored by X,Y,Z lever arm calculations (Forward direction on the left, Reverse on the right). Note that Inertial Explorer's ability to estimate lever arm values is dependent on the quality of the initial lever arm measurement input, correct vehicle body rotation, the amount of data collected, and proper vehicle dynamics.

<figure><img src="/files/vqhg2E0S2vuB8qEnvQ45" alt=""><figcaption></figcaption></figure>


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