Table 1 Sensor specifications used in simulation
From: MicroBlaze implementation of GPS/INS integrated system on Virtex-6 FPGA
Quality | Value | Standard deviation |
|---|---|---|
Scale factor of the accelerometer | 250 mV/g | ±25/3 mV/g |
0 g offset of the gyroscope | 2500 mV | ±625/3 mV |
Scale factor of the gyroscope | 1.11 mV/°/s | ±10/3 % |
Typical turn-on drift of the gyroscope | 0.12°/s | – |
Random noise incorporated in the GPS | – | ±20 m |