Interference Mitigation Based on Low Complexity Subspace Tracking Method for Vehicle Positioning

Table 2

Configurations for the tightly coupled INS/GNSS integration.

Parameter	Value
Gyro bias
Gyro random walk
Accelerometer bias
Accelerometer random walk
GPS intermediate frequency	12.45 MHz
GPS sampling frequency	25 MHz
GPS position measurement noise	10 m
GPS velocity measurement noise	0.1 m/s
GPS initial clock drift uncertainty	0.1 m/s
GPS initial clock uncertainty	10 m