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

Table 2

Aircraft maneuvers in the test.

Stage	Period	Aircraft maneuver	Parameters
1	0~30 s	Stationary	v = 0 m/s
2	30~60 s	Acceleration	v = 0 m/s to v = 100 m/s
3	60~75 s	Pitching	θ = 0° to θ = 30°
4	75~95 s	Straight flight	v = 100 m/s
5	95~120 s	Pitching	θ = 30° to θ = 0°
6	120~140 s	Straight flight	v = 100 m/s
7	140~165 s	Coordinate turn	ψ = 0° to ψ = 40°
8	165~190 s	Straight flight	v = 100 m/s
9	190~215 s	Coordinate turn	ψ = 40° to ψ = 0°
10	215~300 s	Straight flight	v = 100 m/s