Table 1 Experimental parameters
From: Urban localization using robust filtering at multiple linearization points
Parameter | Value | Parameter | Value |
|---|---|---|---|
No. of particles | 20 | Confidence level \(\alpha\) | 0.95 |
No. of visual landmarks | 50 | GPS-Beidou ISB | 17.6 m |
Initial position uncertainty | 5.0 m | Initial orientation uncertainty | 0.2 rad |
Initial velocity uncertainty | 1.0 m/s | Initial bias uncertainty | 1.0 rad/s |
GNSS robust threshold | 50 m | VO robust threshold | 20 px |
Propagation noise \(p_x\) | 5.6 m | Propagation noise \(v_x\) | 2.0 m/s |
Propagation noise \(p_y\) | 5.8 m | Propagation noise \(v_y\) | 2.1 m/s |
Propagation noise \(p_z\) | 0.01 m | Propagation noise \(v_z\) | 0.01 m/s |
Propagation noise roll, pitch | 0.02 rad | Propagation noise yaw | 0.3 rad |
Propagation noise bias | 0.05 rad | Observation noise roll, pitch, yaw | 0.02 rad |
Observation noise velocity | 2.2 m/s | Observation noise landmark | 100.5 px |
Observation noise pseudorange | 5.3 m | Speed scale | 0.5 |