Gravity Matching Aided Inertial Navigation Technique Based on Marginal Robust Unscented Kalman Filter

Table 1

Parameters in the simulation.

Name	ARW	VRW	Time span	INS periods	Initial latitude	Initial longitude	Velocity	Heading	Standard deviation
Value	10^−4	10^−5	36	1	15	110	1.6	45	1
Unit	^∘	g	h	s	°	°	m/s	°	mGal