A Novel Neural Network-Based SINS/DVL Integrated Navigation Approach to Deal with DVL Malfunction for Underwater Vehicles

Table 2

SINS specifications.

Parameter item	Gyroscope	Accelerometer
Bias	<0.02°/h(1σ)	<5×10^−5g (1σ)
Update rate	200 Hz	200 Hz
Bias stability	<30 ppm	<50 ppm
Dynamic range	±200°(s)	±15 g