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