Error Analysis and Compensation of Gyrocompass Alignment for SINS on Moving Base

Table 3

The performance of PHINS.

Position accuracy (CEP50%^3)	Heading accuracy (1σ value)			Attitude accuracy (1σ value)
With stand-alone GPS aiding	5–15 m	With GPS aiding	0.01° secant latitude	Roll and pitch error	Less than 0.01°
With differential GPS aiding	0.5–3 m
With RTK differential GPS aiding	2–5 m	No aiding	0.05° secant latitude
No aiding for 5 min	20 m
Pure internal mode	0.6 NM/h