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)