A Robust EMD-Based RVFL Network Fusion Algorithm for Low-Cost GPS/INS Integrated System

Figure 6

Comparison of raw and denoised specific force and angular rate resolved in body frame along x-, y-, z-axes. (a) Specific force resolved along x-axis. (b) Angular rate resolved along x-axis. (c) Specific force resolved along y-axis. (d) Angular rate resolved along y-axis. (e) Specific force resolved along z-axis. (f) Angular rate resolved along z-axis.

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