Algorithm Improvement of the Low-End GNSS/INS Systems for Land Vehicles Navigation

Table 1

Performance of typical MEMS IMU.

	Accel.	Gyro
Bias	3000 𝜇g	36 deg/h
White noise	2.7 m/s/sqrt(h)	3.17 deg/sqrt(h)
Position error in 60 s GPS outage	50 m