Efficiency Improvement of Kalman Filter for GNSS/INS through One-Step Prediction of Matrix

Table 2

IMU characteristics after lab calibration.

		Measurement
		MTi-G	FSAS
Gyros	Bias (°/h)	36	0.75
	ARW (°/)	3	0.1
	Scale factor (ppm)	300	300
Accelerometers	Bias (mGal)	2000	1000
	VRW (m/s/)	0.12	0.03
	Scale factor (ppm)	300	300