The current technological development is SD-WAN (Software-Defined Wide Area Network) which provides highperformance access for users located far from the head office so as to allow faster network connections and has been facilitated automation techniques for branch offices. This research solves the problem of XYZ company because it is known that the company requires network connectivity with a high SLA (Service Level Agreement) and no downtime in the information exchange process. This research hypothesis assumes that using SD-WAN would be ideal and the problems with XYZ company were resolved. The purpose of this research is the implementation of a WAN network using SD-WAN technology against two ISPs on the FortiGate router, as well as testing QoS (Quality of Service) that has been configured using the BGP (Border Gateway Protocol) routing method. This research plan consists of ISP-A using IP-VPN (Internet Protocol-Virtual Private Network) and ISP-B using broadband Internet. The test scenario was carried out using 3 methods, namely Full Service Scenario, Fail Over Scenario-1 when the IP VPN service is down and Fail Over Scenario-2 when the broadband Internet service is down. The final results of the research have obtained "Satisfactory" results for both services, including the average index on ISP-A and ISP-B of 3.7.

Rotation modulation can significantly improve the navigation accuracies of an inertial navigation system (INS) and a strap-down configuration dominating in this type of INS. However, this style of construction is not a good scheme since it has no servo loop to counteract a vehicle manoeuvre. This paper proposes a rotary upgrading method for a rotational INS based on an inertially stabilized platform. The servo control loop is reconstructed on a four-gimbal platform, and it has the functions of providing both a level stability relative to the navigation frame and an azimuth rotation at a speed of 1:2◦/s. With the platform’s rotation, the observability and the convergence speed of the estimation for the initial alignment can be improved, as well as the biases of the gyroscopes and accelerometers be modulated into zero-mean periodic values. An open-loop initial alignment method is designed, and its detailed algorithms are delivered. The experiment result shows that the newly designed rotational INS has reached an accuracy of 0.38 n mile/h (CEP, circular error probable). The feasibility and engineering applicability of the designed scheme have been validated.