Performance of Tightly Coupled Integration of GPS/BDS/MEMS-INS/Odometer for Real-Time High-Precision Vehicle Positioning in Urban Degraded and Denied Environment

<table class="table-group" id="tab1"><tr><td><table class="table"><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr class="thead"><td class="align_left">Parameter</td><td class="align_center">MEMS INS</td><td class="align_center">FOG INS</td></tr><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr><td class="align_left">Accelerometer bias stability (mg)</td><td class="align_center">2</td><td class="align_center">0.2</td></tr><tr><td class="align_left">Velocity random walk (<i>μ</i>g/sqrt(Hz))</td><td class="align_center">120</td><td class="align_center">20</td></tr><tr><td class="align_left">Gyro bias stability (deg/h)</td><td class="align_center">5</td><td class="align_center">0.05</td></tr><tr><td class="align_left">Angular random walk (deg/sqrt(h))</td><td class="align_center">0.4</td><td class="align_center">0.005</td></tr><tr class="table-tr"><td colspan="3"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>Main performance specifications of the INS sensors.</div>

Journal of Sensors

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Table 1

Table 1: Performance of Tightly Coupled Integration of GPS/BDS/MEMS-INS/Odometer for Real-Time High-Precision Vehicle Positioning in Urban Degraded and Denied Environment 

Table 1 | Performance of Tightly Coupled Integration of GPS/BDS/MEMS-INS/Odometer for Real-Time High-Precision Vehicle Positioning in Urban Degraded and Denied Environment 