The traditional polar rapid transfer alignment (RTA) are generally modeled under small angle misalignment assumption. Those linearized and nonlinear polar RTA error models presented. so far. are not capable of accurately representing the nonlinear properties of the system where the all-orientation large attitude errors happen between the master and slave strap-down inertial navigation... https://www.markbroyard.com/best-grab-sukin-hydrating-body-lotion-250ml-fashion-save-extra/