TABLE 2
Summary of 3σ IMU and Measurement Noise Specifications Used in Simulation
IMU Noise
3
σ
Uncertainty
Velocity random walk
0.1 m/s/sqrt(hr)
Angular random walk
0.1 deg/sqrt(hr)
Measurement Noise
3
σ
Uncertainty
Altimeter
4 m
SAR Range
0.75 m
SAR Cross-Range
0.75 m