Table 1.

Parameters of SINS.

Parameter	Value
Constant drift of gyroscope	$0.1\left(\mathrm{o}/\mathrm{h}\right)$
Random walk coefficient of gyroscope	$0.01\left(\mathrm{o}/\sqrt{\mathrm{h}}\right)$
Zero bias of accelerometer	$0.001\left(\mathrm{g}\right)$
Random walk coefficient of accelerometer	$0.0001\left(\mathrm{g}\cdot \sqrt{s}\right)$
Sampling rate	$50\mathrm{}\left(\mathrm{Hz}\right)$