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. 2015 Oct 22;15(10):26818–26837. doi: 10.3390/s151026818

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© 2015 by the authors; licensee MDPI, Basel, Switzerland.

This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution license (http://creativecommons.org/licenses/by/4.0/).

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INS/PS fusion results for a rotating vehicle scenario. (a) position error vector; (b) velocity error vector; (c) misalignment error; (d) accelerometer residuals; (e) gyro residuals; (f) rank of observbility Gramian matrix.

INS/PS fusion results for a rotating vehicle scenario. (a) position error vector; (b) velocity error vector; (c) misalignment error; (d) accelerometer residuals; (e) gyro residuals; (f) rank of observbility Gramian matrix.