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

Table 2

Comparison of different acceleration (unit: 𝜇g).

Axis	Accel. bias	2𝝎^𝑛𝑖𝑒×𝐯^𝑛	𝝎^𝑛𝑒𝑛×𝐯^𝑛
𝑋	3𝑒+3	3.2𝑒+2	1.5𝑒+1
𝑌	3𝑒+3	3.2𝑒+2	−1.5𝑒+1
𝑍	3𝑒+3	3.8𝑒+2	3.6𝑒+1