State-Space Measurement Update for GNSS/INS Integrated Navigation

Table 3

Technical parameters of the IMU.

Technical parameters	DQI of KVH IMU
Accelerometer bias	50 mg
Accelerometer scale factor	4000 ppm,
Accelerometer random walk	55 ),
Gyro bias	20°/hr
Gyro scale factor	1500 ppm,
Gyro random walk	0.067°/,