Research Article
Modified Adaptive Fusion Scheme for Kalman Filter Based on the Hypothesis Test
Table 1
Main technical parameters from the suppliers.
| Sensors | Constant bias | Bias instability | Bias repeatability | Random walk | Scale factor instability |
| Gyroscope | 20° | 1° (1σ) | 3° | 0.0667° | 1500 ppm | Accelerometer | 50 mg | 0.25 mg (1σ) | 0.75 mg | 50 | 4000 ppm |
|
|