Research Article
A Fault-Tolerant Filtering Algorithm for SINS/DVL/MCP Integrated Navigation System
Table 1
IMU parameters of tested system.
| | Terms | Parameters |
| | Accelerometer biases (g) | <80 × 10−5 | | Accelerometer nonlinearity (% FS) | <30 × 10−3 | | Accelerometer resolution (mg) | 0.5 | | Gyro biases (°/hr) | <0.1 | | Gyro nonlinearity (% FS) | <20 × 10−2 | | Random walk (°/hr1/2) | <0.1 |
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