TABLE 2

Summary of 3σ IMU and Measurement Noise Specifications Used in Simulation

IMU Noise3σ Uncertainty
Velocity random walk0.1 m/s/sqrt(hr)
Angular random walk0.1 deg/sqrt(hr)
Measurement Noise3σ Uncertainty
Altimeter4 m
SAR Range0.75 m
SAR Cross-Range0.75 m