Experimental Results on an Integrated GPS and Multisensor System for Land Vehicle Positioning

Table 2

Characteristics of Crossbow and Honeywell IMUs [42].

	Crossbow IMU300CC	HG1700
Size	7.62×9.53×3.2 (cm)	15×15×10 (cm)
Weight	0.59 kg	0.725 kg
Max data rate	200 Hz	100 Hz
Start-up time	<1 s	<0.8 s
Accelerometer
Range	±2 g	±50 g
Bias	±30 mg	1.0 mg
Scale factor	<1%	300 ppm
Random walk	<0.15 m/s/hr^1/2	0.0198 m/s/hr^1/2
Angular rate
Range	±100 g	±50 g
Bias	<±2.0°/s	1°/hr
Scale factor	<1%	150 ppm
Random walk	<2.25°/hr^1/2	0.125°/hr^1/2
Electrical
Input voltage	9–30 V dc	±5 V dc
Power	<3 W	<8 W
Connector	RS-232	RS-422