TABLE 2
Lidar and IMU Parameters and Test Settings
| 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/s2 |
| 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.