TABLE 2
Baseline PpEngine Configuration Parameters
| CDGNSS parameters | ||
| Carrier-to-noise ratio threshold |  | ≥ 40 dB-Hz |
| Phase lock statistic threshold | sθ | ≥ 0.8 |
| Elevation mask | θel | ≥ 10° |
| Integer aperture (IA) validation test | Fixed-failure-rate difference test (Wang & Verhagen, 2015) | |
| IA fixed-failure rate |  | = 0.001 |
| Undifferenced zenith pseudorange std | σρ | = 1.5 m |
| Undifferenced zenith phase std | σϕ | = 0.006 m |
| Elevation-dependent weighting | ws | = (1 + 10 exp(−θel/10°))−1 |
| Pseudorange outlier threshold std | γ | = 1.5σ |
| False-fix detection window length | l | = 10 |
| False-fix detection threshold |  | = 10−15 |
| IMU parameters | ||
| Accelerometer noise density |  |  |
| Accelerometer bias steady-state std |  | = 0.5,10 mg* |
| Accelerometer bias time constant | τa | = 100 s |
| Gyroscope noise density |  |  |
| Gyroscope bias steady-state std |  | = 8,30 °/hr* |
| Gyroscope bias time constant | τg | = 100 s |
| NHC parameters | ||
| Lateral std | σnhc,y | = 0.1 m/s |
| Vertical std | σnhc,z | = 0.2 m/s |
| ZUPT parameters | ||
| Longitudinal std | σzx | = 0.05 m/s |
| Lateral/vertical std | σzy, σzz | = 0.01 m/s |
| Accelerometer noise threshold | γzupt,a | = 0.8 m/s2 |
| Gyroscope noise threshold | γzupt,g | = 0.006,0.018 rad/s* |
| ZUPT detection window | Nzupt | = 10,30 * |
| Innovations test threshold |  | = 10−30, 10−6* |
Note: Pairs marked with “*” indicate separate parameter values used with the industrial-grade and consumer-grade IMU, respectively. IMU noise parameters were increased from datasheet values for consistency with empirical observations. The elevation-dependent GNSS measurement weighting scheme is derived from Verhagen et al. (2010). Details of the NHC and ZUPT schemes are provided in this paper’s supplemental information.