N process. system. Figure The procedure of your the covariance transformation4. L-Quisqualic acid Biological Activity Experimental ResultsThis section presents the experiment and simulation results. A high-precision ring laser gyro inertial navigation systemexperiment and simulation results. A ring laser This section presents the is utilized to conduct flight experiments. The high-precision gyro bias stability is much less than 0.01 /h. The is applied to conduct flight experiments. . ring l laser gyro inertial navigation program accelerometer bias stability is less than 20 The The GNSS positioning error is less than 10 m, which can be employed as the position reference. The gyro bias stability is less than 0.01 h. The accelerometer bias stability is significantly less than 20 update frequency of the gyro and accelerometer is 200 Hz, although the update frequency on the is 1 Hz. GNSS GNSS positioning error is much less than ten m, which can be made use of because the position reference. four.1. Flight Experiment GNSS is 1 Hz.four. Experimental Resultsupdate frequency on the gyro and accelerometer is 200 Hz, when the update frequencFlight experiments were carried out at middle latitudes. The duration was four h, which includes a half-hour’s alignment. Firstly, the experiment was carried out determined by the n-frame. four.1. Flight Experiment Just after flying for half an hour, the navigation frame was changed for the G-frame until the finish of Flight experiments had been carried out at middle latitudes. The duration was the flight. including a half-hour’s alignment. Firstly, the experiment was carried out based on th So as to evaluate the effects caused by navigation frame transformation, the results frame. Just after flying for half an hour, the navigation frame was changed the that are according to a regional horizontal geographic frame are made use of as reference. Becauseto the G-fr flight experiments are carried out at middle latitudes, there isn’t any algorithm error introduced till the end on the flight. by the So that you can evaluate the effects brought on outcome is reputable.frame transformation, the res selection of navigation frame. The reference by navigation The navigation results,that happen to be determined by a regional horizontal geographic frame are utilized as reference. Because flight experiments are performed at middle latitudes, there is absolutely no algorithm e introduced by the option of navigation frame. The reference outcome is trustworthy. navigation final results, determined by the covariance 2-Methylbenzaldehyde In stock transformation and non-covariaAppl. Sci. 2021, 11,including a half-hour’s alignment. Firstly, the experiment was carried out according to the nframe. Right after flying for half an hour, the navigation frame was changed for the G-frame till the finish in the flight. In an effort to evaluate the effects triggered by navigation frame transformation, the results which might be depending on a nearby horizontal geographic frame are used as reference. Because the 8 of 11 flight experiments are conducted at middle latitudes, there isn’t any algorithm error introduced by the choice of navigation frame. The reference outcome is reliable. The navigation final results, determined by 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 3.Appl. Sci. 2021, 11,9 of(a)(b)(c)(d)Figure The navigation outcomes, based on the covariance transformation and non-covariance transformation. (a) The Figure three. three. The navigation final results, according to the covariance transformation and non-covariance transformation. (a) The relative error of attitude; (b) the relative error of positio.
