Table 3.

System parameters of GNSS/SINS-IADPS.

Sensors	Parameter	Value
SINS	Gyroscope constant drift	${10}^{\circ }/h$
	Random walk coefficient of gyroscope	${0.6}^{\circ }/\sqrt{h}$
	Zero deviation of angular velocity meter	$40\mu g$
	Random walk coefficient of accelerometer	$80\mu g\cdot \sqrt{h}$
	Sampling rate	100/Hz
GNSS	Position measurement noise	15 / m
	Sampling rate	10 / Hz