Table 1 Simulation parameters
From: Underwater inertial error rectification with limited acoustic observations
System | Parameter | Value |
|---|---|---|
DRNS | Gyro drift | \({{0.03\;(^\circ )} \mathord{\left/ {\vphantom {{0.03\;(^\circ )} {\text{h}}}} \right. \kern-0pt} {\text{h}}}\) |
Gyro ARW | \({{0.003\;(^\circ )} \mathord{\left/ {\vphantom {{0.003\;(^\circ )} {\text{h}}}} \right. \kern-0pt} {\text{h}}}^{{\tfrac{1}{2}}}\) | |
Gyro frequency | 100 Hz | |
Initial attitude error | \((1^\circ ,0^\circ,1^\circ )\) | |
Installation error | \((0.25^\circ ,0^\circ,0.17^\circ )\) | |
Odometer scale factor | 1.05 | |
Odometer frequency | 50 Hz | |
Acoustic system | Ranging accuracy | 2 m |
Output frequency | 0.25 Hz |