Table 4 Calibration results of gyroscope bias and accelerometer bias for the three sets of curve calibration 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) | \(\varepsilon_{y}^{b}\)((°)/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 circular trajectory | 36.8 | 36.68 | 37.19 | 1990 | 2010 | 1998 |
Bias of S-shaped trajectory | 36.8 | 36.91 | 36.94 | 1991 | 2007 | 2001 |
Bias of figure-eight trajectory | 36.8 | 36.70 | 36.73 | 2004 | 1998 | 2000 |