Figure 1.
Figure 2.
Figure 3.
Figure 4.
Figure 5.
Figure 6.
Results of static experiments_
| Static | RM (vertical axis) | RM (horizontal axis) | ||
|---|---|---|---|---|
| ε(t = 300s ),[deg] | X | 16.35 | –0.95 | 1.08 |
| Y | –53.11 | 0.9 | 0.86 | |
| Z | 5.62 | 14.07 | 9.2 | |
| ΔV (t = 300s ),[m/s] | X | 415.37 | –33.66 | 30.83 |
| Y | –332.5 | 15.62 | 32.96 | |
| Z | 137.26 | 95.76 | 117.3 | |
| ΔS (t = 300s ),[km] | X | 41.46 | –3.75 | 3.3 |
| Y | –33.29 | 4.2 | 6.08 | |
| Z | 6.67 | 8.79 | 23.16 | |
Characteristics of IMU Xsens MTI-1 sensors_
| Accelometr block | Gyroscope block | |
|---|---|---|
| Measurement range | ±16 g | ±2,000°/s |
| Zero offset instability | 0.03 mg | 10°/h |
| Bandwidth (–3 dB) | 324 (Z: 262) Hz | 255 Hz |
| Noise density | 120μg/√Hz | 0.007°/s/√Hz |
| Non-linearity | 0.5%FS | 0.1%FS |