Table 3.

Inertial navigation system (INS) and global navigation satellite system (GNSS) simulation conditions.

Parameter	Value	Unit
Gyro angle random walk	$0.001$	$deg/\sqrt{hour}$
Gyro bias error	$0.01$	$deg/hour$
Gyro time constant	$3600$	s
Accelerometer white noise	${10}^{-5}$	$m/s^2$
Accelerometer bias error	${10}^{-5}$	$m/s^2$
Accelerometer bias time constant	$3600$	s
Probability of satellite fault	${10}^{-5}$	$1/hour/Sat$
Probability of constellation fault	${10}^{-4}$	$1/hour/Const$
Hazardous monitoring information (HMI) probability	$2\times {10}^{-7}$	$1/approach$
Probability of false alert	$4\times {10}^{-6}$	$1/15s$
Probability of EMT-I	$1\times {10}^{-5}$	$1/approach$