INS Assisted Fuzzy Tracking Loop for GPS-Guided Missiles and Vehicular Applications

Table 3

Error characteristics of Litton LN-200 IMU.

Sources	1-σ error	Units
Gyro bias	0.35	deg/hr
Gyro scale factor	100	ppm
Gyro misalignment	0.1	mrad
Gyro g drift	0.5	deg/hr/g
Gyro g^2 drift	0.05	deg/hr/g^2
Gyro random walk	0.05	deg/√hr
Accel. bias	0.07	mg
Accel. scale factor	300	ppm
Accel. misalignment	0.1	mrad
Accel. random walk	0.03	m/s/√hr