N process. strategy. CMP-Sialic acid sodium salt site Figure The method on the the covariance transformation4. Experimental ResultsThis section presents the experiment and simulation results. A high-precision ring laser gyro inertial navigation systemexperiment and simulation final results. A ring laser This section presents the is employed 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 technique accelerometer bias stability is significantly less than 20 The The GNSS positioning error is less than ten m, that is used because the position reference. The gyro bias stability is significantly less than 0.01 h. The accelerometer bias stability is less than 20 update frequency of your gyro and accelerometer is 200 Hz, when the update frequency of the is 1 Hz. GNSS GNSS positioning error is less than ten m, which can be utilised as the position reference. four.1. Flight Experiment GNSS is 1 Hz.4. Experimental Resultsupdate frequency on the gyro and accelerometer is 200 Hz, though the update frequencFlight experiments had been carried out at middle latitudes. The duration was four h, which includes a half-hour’s alignment. Firstly, the experiment was carried out depending on the n-frame. 4.1. Flight Experiment Just after flying for half an hour, the navigation frame was changed for the G-frame till the end of Flight experiments were carried out at middle latitudes. The duration was the flight. such as a half-hour’s alignment. Firstly, the experiment was carried out determined by th As a way to evaluate the effects brought on by navigation frame transformation, the results frame. Soon after flying for half an hour, the navigation frame was changed the which might be determined by a nearby horizontal geographic frame are employed as reference. Becauseto the G-fr flight experiments are performed at middle latitudes, there is absolutely no algorithm error introduced till the end on the flight. by the So that you can evaluate the effects caused outcome is trustworthy.frame transformation, the res option of navigation frame. The reference by navigation The navigation benefits,that are based on a local horizontal geographic frame are utilized as reference. For the reason that flight experiments are carried out at middle latitudes, there is absolutely no algorithm e introduced by the selection of navigation frame. The reference outcome is reputable. navigation results, based on the covariance transformation and non-covariaAppl. Sci. 2021, 11,including a half-hour’s alignment. Firstly, the experiment was carried out based on the nframe. Soon after flying for half an hour, the navigation frame was changed for the G-frame till the end of the flight. In order to evaluate the effects brought on by navigation frame transformation, the outcomes that are Latrunculin B Autophagy according to a neighborhood horizontal geographic frame are made use of as reference. Because the eight of 11 flight experiments are carried out at middle latitudes, there is no algorithm error introduced by the selection of navigation frame. The reference outcome is reliable. The navigation benefits, based on the covariance transformation and non-covariance transformation, are shown in Figure three. determined by 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 benefits, based on the covariance transformation and non-covariance transformation. (a) The Figure 3. 3. The navigation outcomes, determined by the covariance transformation and non-covariance transformation. (a) The relative error of attitude; (b) the relative error of positio.
