System Parameters | Values |
---|---|

Overbounding standard deviation of feature extraction ranging measurement | 0.15 m |

Overbounding standard deviation of feature extraction angular measurement | 3° |

Laser data sampling interval | 0.1 s |

Accelerometer velocity random walk | |

Gyroscope angle random walk | |

Accelerometer GMP bias correlation time constant | 3600 s |

Gyroscope GMP bias correlation time constant | 3600 s |

Standard deviation of accelerometer GMP bias | 0.67 m/s^{2} |

Standard deviation of gyroscope GMP bias | 10° |

IMU sampling time | 0.01 s |

Vehicle speed | 0.6 m/s |

Alert limit ℓ | 0.35 m |

Note: GMP: Gauss–Markov process.