Research Article
A Preferable Airborne Integrated Navigation Method Based on INS and GPS
Table 3
Normalized covariance of accelerometer scale factor and misalignment.
| | Error state | Initial value | Glide | Preparation for climbing | Climbing | Transformation level | Uniform flight | Tilt to the left | Circle to the left | Exit circle | Final value |
| | 1.00 | 1.00 | 1.00 | 1.00 | 1.00 | 1. 00 | 0.99 | 0.98 | 0.95 | 0.95 | | 1.00 | 0.99 | 0.99 | 0.95 | 0.95 | 0.75 | 0.73 | 0.69 | 0.69 | 0.69 | | 1.00 | 0.91 | 0.88 | 0.85 | 0.84 | 0.80 | 0.80 | 0.80 | 0.79 | 0.79 | | 1.00 | 0.99 | 0.99 | 0.99 | 0.99 | 0.85 | 0.84 | 0.83 | 0.83 | 0.83 | | 1.00 | 0.97 | 0.96 | 0.96 | 0.96 | 0.94 | 0.94 | 0.92 | 0.92 | 0.92 | | 1.00 | 1.00 | 1.00 | 1.00 | 1.00 | 1.00 | 0.99 | 0.98 | 0.97 | 0.97 | | 1.00 | 0.97 | 0.96 | 0.95 | 0.95 | 0.92 | 0.92 | 0.92 | 0.92 | 0.92 | | 1.00 | 1.00 | 1.00 | 1.00 | 1.00 | 1.00 | 0.99 | 0.93 | 0.88 | 0.84 | | 1.00 | 1.00 | 1.00 | 1.00 | 1.00 | 0.98 | 0.98 | 0.97 | 0.96 | 0.95 |
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