Error Prediction for SINS/GPS after GPS Outage Based on Hybrid KF-UKF

Table 1

Main specifications of experiment instruments in the simulation test.

Equipment	Parameters
GPS receiver	Velocity accuracy	0.1 m/s (1σ)
	Position accuracy	5 m (horizontal); 10 m (vertical)
	Output frequency	10 Hz
MEMS-IMU	Gyroscope
	Bias	50°/h (1σ)
	White noise	35°/h/√Hz
	Accelerometer
	Bias	2 mg (1σ)
	White noise	0.3 mg/√Hz
	Output frequency	200 Hz