CDGNSS parameters |
Carrier-to-noise ratio threshold | | ≥ 40 dB-Hz |
Phase lock statistic threshold | sθ | ≥ 0.8 |
Elevation mask | θel | ≥ 10° |
Integer aperture (IA) validation test | Fixed-failure-rate difference test (Wang & Verhagen, 2015) |
IA fixed-failure rate | | = 0.001 |
Undifferenced zenith pseudorange std | σρ | = 1.5 m |
Undifferenced zenith phase std | σϕ | = 0.006 m |
Elevation-dependent weighting | ws | = (1 + 10 exp(−θel/10°))−1 |
Pseudorange outlier threshold std | γ | = 1.5σ |
False-fix detection window length | l | = 10 |
False-fix detection threshold | | = 10−15 |
IMU parameters |
Accelerometer noise density | | |
Accelerometer bias steady-state std | | = 0.5,10 mg* |
Accelerometer bias time constant | τa | = 100 s |
Gyroscope noise density | | |
Gyroscope bias steady-state std | | = 8,30 °/hr* |
Gyroscope bias time constant | τg | = 100 s |
NHC parameters |
Lateral std | σnhc,y | = 0.1 m/s |
Vertical std | σnhc,z | = 0.2 m/s |
ZUPT parameters |
Longitudinal std | σzx | = 0.05 m/s |
Lateral/vertical std | σzy, σzz | = 0.01 m/s |
Accelerometer noise threshold | γzupt,a | = 0.8 m/s2 |
Gyroscope noise threshold | γzupt,g | = 0.006,0.018 rad/s* |
ZUPT detection window | Nzupt | = 10,30 * |
Innovations test threshold | | = 10−30, 10−6* |