Research Article
A Novel Probabilistic Approach for Vehicle Position Prediction in Free, Partial, and Full GPS Outages
Table 1
Specifications of the Smartphone sensors.
| Sensor name | Sensor type | Voltage (V) | Typical current (mA) | Range | Noise (RMS) |
| GPS receiver | BCM 4752 | 2.46–2.54 | 0.7 | About 3 meters | 1 (m) | Accelerometer | MPU 6500 | 1.8 | 0.45 | ±2 g/4 g/8 g (g = ms−2) | 6.1 (mg) | Gyroscope | MPU 6500 | 1.8 | 3.2 | ±250/500/1000 dps | 0.1 (dps) |
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