Correction of Misalignment Errors in the Integrated GNSS and Accelerometer System for Structural Displacement Monitoring

Figure 6

Displacements computed and their errors for the test with the simulated random displacements. (a) GNSS data only. (b) Integration from accelerometer data after a high-pass filter. (c) GNSS and accelerometer data fusion with EMD. (d) GNSS and accelerometer data fusion with CMRKF. (e) GNSS and accelerometer data fusion with CMRKF-MA. (f) GNSS and accelerometer data fusion with UMRKF-MA.