A Quaternion-Based Robust Adaptive Spherical Simplex Unscented Particle Filter for MINS/VNS/GNS Integrated Navigation System
Table 1
Simulation parameters.
North latitude
34.246°
Initial position
East longitude
108.997°
Altitude
20m
North
200m/s
Initial velocity
East
0m/s
Up
0m/s
Yaw
0
Initial orientation
Pitch
0
Roll
0
North latitude
10m
Initial position error
East longitude
10m
Altitude
10m
North
0.5m/s
Initial velocity error
East
0.5m/s
Up
0.5m/s
Yaw
1′
Initial attitude error
Pitch
1′
Roll
1′
Gyro parameters
Constant drift
0.1°/h
Random walk coefficient
0.5°/h
Accelerometer
Zero bias
parameters
Random walk coefficient
GNS
Position error
3m
parameters
Sampling frequency
1Hz
VNS parameters
Attitude error
0.5′
Position error
3m
Sampling frequency
1Hz
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