Table 2 Simulation parameter
From: Multi-level autonomous integrity monitoring method for multi-source PNT resilient fusion navigation
Subject | Parameter | Value |
|---|---|---|
INS errors | Gyro drift | 200 (°) h−1 |
Gyro random walk coefficient | 1.0 (°) h−0.5 | |
Accelerometer bias | 0.09 m s−2 | |
Accelerometer walk coefficient | 0.01 m s−1.5 | |
GNSS errors | Pseudorange measurement noise | 2.5 m |
Pseudorange rate measurement noise | 0.05 m/s | |
LBL errors | Beacon measurement noise | 1 × 10–2 s |
USBL errors | Elevation angle measurement noise | 0.001° |
Horizontal angle measurement noise | 0.001° | |
Time measurement noise | 0.001 s | |
Integrity | System Integrity Budget (SIB) | 1 × 10–2 |
SIB in the horizontal direction | 9 × 10–5 | |
SIB in the vertical direction | 4 × 10–3 | |
Navigation Source Integrity Budget (NSIB) | 1 × 10–5 | |
NSIB in the vertical direction | 4 × 10–8 | |
NSIB in the horizontal direction | 9 × 10–9 |