Table 3 Calibration results of gyroscope bias and accelerometer bias for the straight and diamond-shaped trajectories in the simulation experiment
From: Improving the underwater navigation performance of an IMU with acoustic long baseline calibration
Project | \(\varepsilon_{x}^{b}\)((°)/h) | \(\varepsilon_{y}^{b}\)((°)/h) | \(\varepsilon_{z}^{b}\)((°)/h) | \(\nabla_{x}^{b}\)(10−8 m/s2) | \(\nabla_{y}^{b}\) (10−8 m/s2) | \(\nabla_{z}^{b}\) (10−8 m/s2) |
|---|---|---|---|---|---|---|
Preset bias | 36.8 | 36.8 | 36.8 | 2000 | 2000 | 2000 |
Bias of straight trajectory | 36.8 | 35.39 | − 3.47 | 5187 | 9385 | 2041 |
Bias of diamond-shaped trajectory | 36.8 | 36.68 | 35.89 | 1967 | 2023 | 2004 |
Bias of straight trajectory with depth | 36.8 | 37.45 | 31.36 | 3579 | 6841 | 2027 |
Bias of diamond-shaped trajectory with depth | 36.8 | 36.94 | 36.03 | 1981 | 2017 | 2003 |