Table 1.

Comparison of the Various Architectures.

Filter/Estimation Characteristic	VIMU	Centralized	Federated Filter
Enhanced GPS Observation FDE	No	Yes	No
IMU Observation FDE	Not Recommended	No	No
Reduced Noise at Mechanization Input	Yes	No	No
Constrains Estimator using Relative PVA	No	Yes	No
Estimates Each IMUs Bias and Scale Factor	No	Yes	Yes
IMU Time Synchronization Not Required	No	Yes	Yes