A Tightly Coupled BDS/INS Integrated Positioning Algorithm Based on Triple-Frequency Single-Epoch Observations

Table 1

Specifications of IMUs.

Items	ISA-100C		XW-5651
	Gyroscope	Accelerometer	Gyroscope	Accelerometer
Bias	0.5 deg/hr	1250 μg	6 deg/hr	0.1 mg
Scale factor	100 ppm	100 ppm	1400 ppm	1500 ppm
Random walk	0.3 deg/√hr	100 μg/√hr	0.3 deg/√hr	0.25 mg/√hr