Terrain Referenced Navigation Using a Multilayer Radial Basis Function-Based Extreme Learning Machine

Table 2

Simulation conditions and BKF design parameters.

Parameter	Value
Initial covariance	15^2 m^2
Accelerometer bias	100 μg
Gyro bias	0.01 deg/hr
Gyro white noise	0.005 deg/
Barometer bias	14 m
Barometer scale factor	0.2% of height
Barometer white noise	5 m
Process noise covariance	4^2 m^2
Measurement noise covariance	30^2 m^2
Update frequency	50 Hz