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