A Preferable Airborne Integrated Navigation Method Based on INS and GPS

Table 6

Observable error estimation status of IMU.

Observable error	Test value	Estimated value	Accuracy of estimation
	1°/h	1.1°/h	91%
	1°/h	1.1°/h	91%
	1°/h	0.5°/h	50%
	300 ppm	327 ppm	90%
	300 ppm	214 ppm	71%
	40	51	78%
	40	38	95%
	40	−43	93%
	500 μg	602 μg	83%
	500 μg	702 μg	71%
	500 μg	107 μg	21%
	300 ppm	369 ppm	81%
	300 ppm	62 ppm	21%
	40	13	33%
	40	−8	20%