Mathematical Problems in Engineering / 2015 / Article / Tab 1

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.

EquipmentParameters

GPS receiverVelocity accuracy0.1 m/s (1σ)
Position accuracy5 m (horizontal)
10 m (vertical)
Output frequency10 Hz

MEMS-IMUGyroscope
 Bias50°/h (1σ)
 White noise35°/h/Hz
Accelerometer
 Bias2 mg (1σ)
 White noise0.3 mg/Hz
 Output frequency200 Hz