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Journal of Sensors
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2020
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Article
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Tab 1
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Research Article
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
Main performance specifications of the INS sensors.
Parameter
MEMS INS
FOG INS
Accelerometer bias stability (mg)
2
0.2
Velocity random walk (
μ
g/sqrt(Hz))
120
20
Gyro bias stability (deg/h)
5
0.05
Angular random walk (deg/sqrt(h))
0.4
0.005