Nonlinear Modeling of Azimuth Error for 2D Car Navigation Using Parallel Cascade Identification Augmented with Kalman Filtering

Table 1

Crossbow IMU specifications [21].

Size	7.62 × 9.53 × 3.2 (cm)	Input voltage	9–30 V dc
Weight	0.59 kg	Power	<3 W
Max data rate	200 Hz	Connector	RS-232
Start-up time	<1 s	Input voltage	9–30 V dc
Accelerometer		Gyroscope
Range	±2 g	Range	±100 g
Bias	±30 mg	Bias	<±2.0 deg/sec
Scale factor	<1%	Scale factor	< 1 %
Random walk	<0.15 m/s/√ℎ𝑟	Random walk	<2.25 deg/√ℎ𝑟
		Linearity	<1%