MEMS Based SINS/OD Filter for Land Vehicles’ Applications

Figure 8

Velocity estimation. (a, b) Velocity estimation along the navigation frame east and north axis from AKF and GPS, respectively. (c, d) Mean error of the velocity estimation of the east and north axes with a bias of 10 km/h on the odometer, respectively. (e, f) The velocity estimate results with a bias of 10 km/h on the odometer.

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