Table 4 The parameters of involved instruments
From: A novel robust iterated CKF for GNSS/SINS integrated navigation applications
Instrument | Bias stability | Random walk | Root mean square error (RMSE) |
|---|---|---|---|
SPAN-IGM | |||
Accelerometer | 0.1 mg | 0.03/\(\sqrt h\) | – |
Gyroscope | 0.5°/h | 0.15°/\(\sqrt h\) | – |
RTK receiver | – | – | Velocity error < 0.05 m/s |
Position error < 0.1 m | |||