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

Table 4

RMS statistical results of errors.

Error type	Navigation parameter	Initial; error	Optimization error
Position error (m)		6.2535	5.4109
		10.3145	8.2356
		8.6935	7.5713
Velocity error (m/s)		0.4784	0.2770
		0.7956	0.6541
		0.2769	0.2540