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