Research Article
Huber’s M-Estimation-Based Cubature Kalman Filter for an INS/DVL Integrated System
Table 4
Specifications of IMU and PHINS.
| Sensor | Parameters | Accuracy | Rate (Hz) |
| IMU | Gyroscope constant drift | | 200 | Gyroscope random walk noise | | 200 | Accelerometer constant bias | | 200 | Accelerometer random walk noise | | 200 |
| PHINS | Attitude (GPS-aided mode) | | 200 |
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