Initial Alignment Error On-Line Identification Based on Adaptive Particle Swarm Optimization Algorithm

Table 2

RMS statistical results of navigation parameter errors.

Error type	Navigation parameter	Pure SINS error	Compensation error
Position error (m)		6.9748	0.1730
		2.4885	0.3683
		10.7109	0.0960
Velocity error (m/s)		0.3748	0.0147
		0.1790	0.0306
		0.6336	0.0044