Research Article
Dual-Model Reverse CKF Algorithm in Cooperative Navigation for USV
Table 2
The performance of equipment.
| MEMS | Gyroscope bias stability | <30°/h | Gyroscope scale factor error | 0.1% | Gyroscope measuring range | ±300°/s | Accelerometers bias stability | 0.2 mg | Accelerometers threshold | g | Accelerometers measuring range | ±10 g |
| PHINS | Position accuracy (CEP50%) | 0.5–3 m | Heading accuracy (1 value) | 0.01° secant latitude | Attitude accuracy (1 value) | Less than 0.01° |
| GPS | Time accuracy | 1 us | Velocity accuracy | 0.1 m/s | Position accuracy | <2.5 m |
| DVL | Working range |
−150 m/s–200 m/s | Measurement accuracy | 0.1% |
| Acoustic device | Working range | Up to 8000 m | Error rate (with correction algorithm) | Less than 10−7 |
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