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

Table 3

Comparison of impacts caused by different data rates.

Data rate	Rotation effect (𝜇g)	Sculling effect (𝜇g)	Coning effect (deg/h)
200 Hz	250	5.6	0.6
100 Hz	500	21	2.4
10 Hz	5000	87	9.8
IMU error	3000	3000	36