An Adaptive Unscented Kalman Filtering Algorithm for MEMS/GPS Integrated Navigation Systems

Table 1

Parameters of sensor errors.

Sensor	Characteristic	Value
MEMS Gyro	Drift	5°/h
MEMS Gyro	Measuring white noise	0.5°/h
MEMS accelerometer	Bias	2 mg
MEMS accelerometer	Measuring white noise	50 𝜇g
GPS (position)	Measuring white noise	6 m
GPS (velocity)	Measuring white noise	0.01 m/s