An Improved Adaptive Kalman Filter for Underwater SINS/DVL System

Table 3

Instrument specifications.

Instruments	Parameters	Accuracy	Frequency (Hz)
IMU	Gyroscope bias		200
	Gyroscope random walk		200
	Accelerometer bias variation		200
	Accelerometer output noise		200
GPS	Velocity (RMS)	0.03 m/s	1
	Position (L1)	1.5 m	1
PHINS	Attitude (GPS aided mode)		200