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

Table 2

ADI IMU specifications [22, 23].

Specifications	Gyroscope
	Before lab calibration	After lab calibration
Range	± 150 deg/s	± 150 deg/s
Bias	<± 24 deg/s	<± 0.5 deg/s
Bias instability	40 deg/hr (100s)	40 deg/hr (100s)
Scale factor	10%	0.1%
Angle random walk	3 deg/√ℎ𝑟	3 deg/√ℎ𝑟
Nonlinearity	0.1%	0.1%
Axis misalignment	± 1 deg	± 0.2 deg
Specifications	Accelerometer
	Before lab calibration	After lab calibration
Range	± 5 g	± 5 g
Bias	<± 2500 mg	<± 6 mg
Bias instability	0.2 mg (100s)	0.2 mg (100s)
Scale factor	10%	0.1%
Velocity random walk	0.135–0.195 m/s/√ℎ𝑟	0.135–0.195 m/s/√ℎ𝑟
Nonlinearity	0.2%	0.2%
Axis misalignment	± 1 deg	± 0.2 deg