Research Article
Error Prediction for SINS/GPS after GPS Outage Based on Hybrid KF-UKF
Table 1
Main specifications of experiment instruments in the simulation test.
| Equipment | Parameters |
| GPS receiver | Velocity accuracy | 0.1 m/s (1σ) | Position accuracy | 5 m (horizontal) 10 m (vertical) | Output frequency | 10 Hz |
| MEMS-IMU | Gyroscope | | Bias | 50°/h (1σ) | White noise | 35°/h/√Hz | Accelerometer | | Bias | 2 mg (1σ) | White noise | 0.3 mg/√Hz | Output frequency | 200 Hz |
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