TABLE 2

Multi-Sensor Noise Parameters

Sensor INS	Noise	Unit	Value
			STIM300	Ellipse2
			Tactical grade	Industrial grade
Accelerometer	Velocity Random Walk (1σ)		0.07	0.033
	Bias Stability (1σ)	mg	0.05	0.014
	Bias Time Constant	h	(1)^{^a}	(1)^{^a}
	Bias Repeatability (1σ₀)	mg	0.75	(0.14)^{^a}
Gyroscope	Angular Random Walk (1σ)		0.15	0.15
	Bias Stability (1σ)	deg/h	0.5	7
	Bias Time Constant	h	(1)^{^a}	(1)^{^a}
	Bias Repeatability (1σ₀)	deg/h	4	(70)^{^a}
ZUPT	Violation Noise (1σ)	m/s	0.001
Lidar / Ouster OS1-64	Ranging (1σ)	m	0.01
	Angle (1σ)	deg	0.3
	Survey (1σ₀)	m	(0.02)^{^a}
GNSS	Carrier Thermal Noise (1σ)	m	0.001
	Code Thermal Noise (1σ)	m	0.25
	Carrier Multipath (1σ)	m	0.005
	Code Multipath (1σ)	m	0.5
	Carrier Multipath Time Constant	s	150
	Code Multipath Time Constant	s	80
Wheel Speed Sensor	Measurement Noise (1σ)	m/s	0.05
Vehicle Kinematic Constraints	Violation Noise (1σ)	m/s	0.001