  This work presents a method for generating position, attitude, and velocity
states for an aircraft following a smoothed reference trajectory. The method
also generates accelerometer and gyro measurements consistent with the aircraft
states. This work describes three corner smoothing algorithms for generating a
smoothed reference trajectory from a series waypoints that accounts for
limitations in the physical system. The smoothed reference trajectory, and
curvilinear motion theory are used to generate the lower-order states. A
coordinated turn maneuver is then applied to generate accelerometer and gyro
measurement estimates.
