function figure_caption = get_kf_state_figure_captions

figure_caption = [

%Inertial navigator error states.

{'X position error'};
{'Y position error'};
{'Z position error'};
{'X velocity error'};
{'Y velocity error'};
{'Z velocity error'};
{'X misalignment'};
{'Y misalignment'};
{'sin(Z misalignment)'};
{'cos(Z misalignment)-1'};
                           
%1st-order Markov inertial sensor error states.

{'X accelerometer drift'};
{'Y accelerometer drift'};
{'Z accelerometer drift'};
{'X accelerometer scale factor drift'};
{'Y accelerometer scale factor drift'};
{'Z accelerometer scale factor drift'};
{'YZ accelerometer nonorthogonality'};
{'XZ accelerometer nonorthogonality'};
{'XY accelerometer nonorthogonality'};
{'North gravity fluctuation'};
{'East gravity fluctuation'};
{'Down gravity fluctuation'};
{'X gyro drift'};
{'Y gyro drift'};
{'Z gyro drift'};
{'X gyro scale factor drift'};
{'Y gyro scale factor drift'};
{'Z gyro scale factor drift'};
{'XX gyro g-sensitive drift'};
{'XZ gyro g-sensitive drift'};
{'YY gyro g-sensitive drift'};
{'YZ gyro g-sensitive drift'};
{'ZZ gyro g-sensitive drift'};
{'ZY gyro g-sensitive drift'};
{'XY gyro nonorthogonality'};
{'XZ gyro nonorthogonality'};
{'YX gyro nonorthogonality'};
{'YZ gyro nonorthogonality'}; 
{'ZX gyro nonorthogonality'}; 
{'ZY gyro nonorthogonality'};

% Aiding sensor Markov error states.

{'N GNSS position error'};
{'E GNSS position error'};
{'D GNSS position error'};
{'X GNSS lever arm drift'};
{'Y GNSS lever arm drift'};
{'Z GNSS lever arm drift'};
{'DMI scale factor drift'};
{'Y DMI boresight error'};
{'Z DMI boresight error'};
{'Heading error'};

% Strapdown navigator RANDOM CONSTANT inertial sensor error states.

{'X accelerometer bias'};  
{'Y accelerometer bias'};  
{'Z accelerometer bias'};  
{'X accelerometer scale factor error'};
{'Y accelerometer scale factor error'};
{'Z accelerometer scale factor error'};
{'YZ accelerometer nonorthogonality'};
{'XZ accelerometer nonorthogonality'};
{'XY accelerometer nonorthogonality'};
{'North gravity error'};
{'East gravity error'};
{'Down gravity error'};
{'X gyro bias'};
{'Y gyro bias'};
{'Z gyro bias'};
{'X gyro scale factor error'};
{'Y gyro scale factor error'};
{'Z gyro scale factor error'};
{'XX gyro g-sensitive bias'};
{'XZ gyro g-sensitive bias'};
{'YY gyro g-sensitive bias'};
{'YZ gyro g-sensitive bias'};
{'ZZ gyro g-sensitive bias'};
{'ZY gyro g-sensitive bias'};
{'XZ gyro nonorthogonality'};
{'XZ gyro nonorthogonality'};
{'YX gyro nonorthogonality'};
{'YZ gyro nonorthogonality'};
{'ZX gyro nonorthogonality'};
{'ZY gyro nonorthogonality'};

  % Constant geometry errors

{'X GNSS lever arm error'};
{'Y GNSS lever arm error'};
{'Z GNSS lever arm error'};
{'X DMI lever arm error'};
{'Y DMI lever arm error'};
{'Z DMI lever arm error'};
{'DMI scale factor error'};

  % Position and heading fix offsets

{'N position fix offset'};
{'E position fix offset'};
{'D position fix offset'};
{'Heading fix offset'};

];
