Research Article
Reinforced Ultra-Tightly Coupled GPS/INS System for Challenging Environment
Table 2
IMU error characteristics.
| Error sources | Error values | Gyroscopes | Accelerometers |
| Bias | 10 deg/h | 3 mg | Scale factor | 100 ppm | 100 ppm | Random walk | 0.05 deg/ | 0.05 m/s/ |
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