Randomly Weighted CKF for Multisensor Integrated Systems

Table 4

Parameters for SINS/GPS integration.

Parameters		Values
Refresh frequency		SINS 125 Hz, GPS 5 Hz
Starting time period		<1 s
Thermal Reading of environment
SINS gyros	Measurement limit	±200°/s
	Zero bias	10.0°/hr (1σ)
	Scale factor	0.1% (1σ)
	Random walk coefficient	1.0°/hr^1/2 (1σ)
SINS accelerometers	Measurement limit	±20 g
	Zero bias	2 mg (1σ)
	Scale factor	0.1% (1σ)
	Random walk coefficient	0.005 m/s/hr^1/2 (1σ)
GPS measurement	L1/L2	Horizontal accuracy 1.8 m, vertical accuracy 2.5 m (1σ)
	DGPS	Horizontal accuracy 0.5 m, vertical accuracy 1.0 m (1σ)
	Velocity accuracy	0.02 m/s (1σ)