N strategy. method. Figure The method in the the covariance transformation4. Experimental ResultsThis section presents the experiment and simulation benefits. A high-precision ring laser gyro inertial navigation systemexperiment and simulation final results. A ring laser This section presents the is made use of to conduct flight experiments. The high-precision gyro bias stability is significantly less than 0.01 /h. The is applied to conduct flight experiments. . ring l laser gyro inertial navigation method accelerometer bias stability is significantly less than 20 The The GNSS positioning error is significantly less than ten m, which is used because the position reference. The gyro bias stability is less than 0.01 h. The accelerometer bias stability is much less than 20 update frequency in the gyro and accelerometer is 200 Hz, whilst the update frequency in the is 1 Hz. GNSS GNSS positioning error is significantly less than 10 m, that is utilized as the position reference. four.1. Flight Experiment GNSS is 1 Hz.four. Experimental Resultsupdate frequency in the gyro and accelerometer is 200 Hz, although the update frequencFlight experiments were carried out at middle latitudes. The duration was 4 h, which includes a half-hour’s alignment. Firstly, the experiment was carried out depending on the n-frame. 4.1. Flight Experiment After flying for half an hour, the navigation frame was changed to the G-frame until the end of Flight experiments had been carried out at middle latitudes. The duration was the flight. like a half-hour’s alignment. Firstly, the experiment was carried out determined by th In order to evaluate the effects Fenpropathrin Technical Information brought on by navigation frame transformation, the outcomes frame. Just after flying for half an hour, the navigation frame was changed the that are according to a nearby horizontal geographic frame are used as reference. Becauseto the G-fr flight experiments are performed at middle latitudes, there is absolutely no Acetophenone Purity & Documentation algorithm error introduced till the end of the flight. by the To be able to evaluate the effects brought on result is dependable.frame transformation, the res option of navigation frame. The reference by navigation The navigation outcomes,that are according to a regional horizontal geographic frame are applied as reference. Since flight experiments are performed at middle latitudes, there is absolutely no algorithm e introduced by the option of navigation frame. The reference outcome is dependable. navigation final results, based on the covariance transformation and non-covariaAppl. Sci. 2021, 11,which includes a half-hour’s alignment. Firstly, the experiment was carried out based on the nframe. Following flying for half an hour, the navigation frame was changed to the G-frame till the end on the flight. As a way to evaluate the effects brought on by navigation frame transformation, the outcomes which can be determined by a local horizontal geographic frame are employed as reference. Since the eight of 11 flight experiments are carried out at middle latitudes, there is no algorithm error introduced by the choice of navigation frame. The reference outcome is reputable. The navigation outcomes, according to the covariance transformation and non-covariance transformation, are shown in Figure three. based on the covariance transformation and non-covariance transformation, are shown in Figure three.Appl. Sci. 2021, 11,9 of(a)(b)(c)(d)Figure The navigation outcomes, according to the covariance transformation and non-covariance transformation. (a) The Figure 3. 3. The navigation outcomes, based on the covariance transformation and non-covariance transformation. (a) The relative error of attitude; (b) the relative error of positio.
