Mathematical Problems in Engineering / 2019 / Article / Tab 1

Research Article

A Quaternion-Based Robust Adaptive Spherical Simplex Unscented Particle Filter for MINS/VNS/GNS Integrated Navigation System

Table 1

Simulation parameters.

North latitude34.246°
Initial positionEast longitude108.997°
Altitude 20m

North200m/s
Initial velocityEast0m/s
Up0m/s

Yaw0
Initial orientationPitch0
Roll0

North latitude 10m
Initial position errorEast longitude 10m
Altitude 10m

North0.5m/s
Initial velocity errorEast0.5m/s
Up0.5m/s

Yaw1′
Initial attitude errorPitch1′
Roll1′

Gyro parametersConstant drift0.1°/h
Random walk coefficient0.5°/h

AccelerometerZero bias
parametersRandom walk coefficient

GNSPosition error 3m
parametersSampling frequency1Hz

VNS
parameters
Attitude error0.5′
Position error 3m
Sampling frequency1Hz

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