Research Article
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°/hr1/2 (1σ) |
| SINS accelerometers | Measurement limit | ±20 g | Zero bias | 2 mg (1σ) | Scale factor | 0.1% (1σ) | Random walk coefficient | 0.005 m/s/hr1/2 (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) |
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