Table 5 Calibration results of gyroscope bias and accelerometer bias in the field experiment
From: Improving the underwater navigation performance of an IMU with acoustic long baseline calibration
Items | \(\varepsilon_{x}^{b}\)((°)/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) |
|---|---|---|---|---|---|---|
Bias of straight trajectory | 49.3 | 31.7 | − 6.21 | − 872.8 | 644.8 | 5915 |
Bias of diamond-shaped trajectory | 49.5 | 44.2 | 62.9 | 628.6 | 773.1 | 5982 |