Table 2.
EKF parameter setting (experimental validation).
| Static | Dynamic | |
|---|---|---|
| σg, °/s | 0.4 | 0.4 |
| bσg, °/s2 | 0.01 | 0.01 |
| bσh, u.a./s (×10−3) | 10 | 10 |
| α, s−1 | 10 | 10 |
| σa, mg | 1 | 5 |
| σh, mGauss | 1 | 1 |
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