Table 1: Parameters of sensor errors.

SensorCharacteristicValue

MEMS GyroDrift5°/h
MEMS GyroMeasuring white noise0.5°/h
MEMS accelerometerBias2 mg
MEMS accelerometerMeasuring white noise50  g
GPS (position)Measuring white noise6 m
GPS (velocity)Measuring white noise0.01 m/s