INS stochastic error detection during kinematic tests and impacts on INS/GNSS performance

Figures & data

Table 1. INS stochastic noise terms.

Noise terms	Slope	Allan deviation
Quantization (Q)	–1
Random Walk (N)	–0.5
Bias Instability (B)	0
Rate Random Walk (K)	+0.5
Rate Ramp (R)	+1

Figure 1 Allan deviation plot of static accelerations.

Figure 2 Allan deviation plot of static turning rates.

Table 2. INS A/VRW coefficients.

Axis	VRW ()	ARW ()
X	9.39E-04	6.57E-04
Y	9.33E-04	6.42E-04
Z	9.55E-04	6.20E-04

Table 3. INS acceleration and turning rate bias instability coefficients.

Axis	(	()	()	()
X	5.35E-04	536.9	7.04E-05	229.8
Y	5.03E-04	325.4	9.66E-05	529.5
Z	2.14E-04	460.7	6.82E-05	130.6

Figure 3 DAV plot of kinematic acceleration X.

Table 4. A/VRW coefficients from DAV static.

Axis	VRW ()	ARW ()
X	1.05E-03	6.10E-04
Y	9.82E-04	7.08E-04
Z	9.24E-04	6.16E-04

Figure 4 Δ Acceleration X: CIMU/GNSS vs. MEMS Xsens Mti-G.

Figure 5 Δ Turning rate Z: CIMU/GNSS vs. MEMS Xsens Mti-G.

Figure 6 DAV plot of kinematic acceleration X.

Figure 7 DAV plot of kinematic turning rate Z.

Table 5. INS A/VRW coefficients from DAVAR kinematic.

	Minimum		Maximum
Axis	VRW ()	ARW ()	VRW ()	ARW ()
X	1.31E-03	6.53E-04	9.94E-03	6.76E-04
Y	1.47E-03	6.50E-04	7.78E-03	6.79E-04
Z	2.69E-03	7.53E-04	1.09E-02	7.50E-04

Figure 8 MEMS INS/GNSS positional error.

Table 6. Position error-RMS comparison.

Scenario	2D (m)	3D (m)
GPS-SPP	2.256	10.472
AV-EKF	1.835	10.628
DAV-EKF	1.795	10.229

Figure 9 AV-EKF vs. DAV-EKF 2D performance.

Figure 10 AV-EKF vs. DAV-EKF 3D performance.

Table 7. 2D maximum error during GNSS outage.

Scenario	Out 1 (m)	Out 2 (m)	Out 3 (m)	Out 4 (m)
AV-EKF	20.582	10.708	21.314	32.095
DAV-EKF	17.742	6.108	17.406	29.208
Improvement	2.840	4.600	3.908	2.887

Table 8. 3D maximum error during GNSS outage.

Scenario	Out 1 (m)	Out 2 (m)	Out 3 (m)	Out4 (m)
AV-EKF	28.733	24.179	32.774	38.713
DAV-EKF	23.762	16.479	23.924	37.239
Improvement	4.971	7.700	8.850	1.474