Navigation Facility for High Accuracy Offline Trajectory and Attitude Estimation in Airborne Applications

Table 4

AX1-GNS error analysis for position, velocity, and attitude.

	Max error	Mean error	Error Std
𝑥ECEF	10 m	−7⋅10^−2 m	1 m
𝑦ECEF	−5 m	3⋅10^−2 m	1 m
𝑧ECEF	−6 m	3⋅10^−1 m	2 m
𝑣𝑛	−1 m/s	<10^−2 m/s	8⋅10^−2 m/s
𝑣𝑒	2 m/s	<10^−2 m/s	10^−1 m/s
𝑣𝑑	6⋅10^−1 m/s	<10^−2 m/s	4⋅10^−2 m/s
𝛽	4°	<0.2°	0.4°
𝛼	2°	<0.2°	0.3°