Positioning Errors Predicting Method of Strapdown Inertial Navigation Systems Based on PSO-SVM

Table 1

The expected value and standard deviation of error sources.

Error sources	Expected value	Standard deviation
Zero bias errors of gyros	0.01°/h	0.006°/h
Random walk errors of gyros	0.001°/√h	0.0068°/√h
Accelerometer zero bias errors	3 μg	0.5 μg
Accelerometer random walk errors	3 μg/√Hz	5 μg/√Hz
Scale factor errors of gyros	10 ppm	0