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

Figure 7

PSDs of displacements from the laser transducer, the multi-antenna GNSS, the accelerometer (ACC), the EMD-based fusion algorithm (EMD), the conventional multi-rate Kalman filter (CMRKF), CMRKF-MA, and UMRKF-MA for the random displacement test.