Experiments For Element Spacing On A 2 by 2 Patch Antenna Array

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Experiments for element spacing on a 2 by 2 patch antenna array
Conference Paper · May 2017

DOI: 10.1109/ICTEmSys.2017.7958757
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Kirote Arpanutud Denchai Worasawate

Kasetsart University Kasetsart University
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La-or Kovavisaruch Kazuhiko Fukawa

National Electronics and Computer Technology Center Tokyo Institute of Technology
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Navigation Using Inertial Sensors
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University College London
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Table 1.
Typical Accelerometer and Gyro Biases for Different Grades of IMU
Accelerometer bias Gyro bias

IMU grade
mg m s−2 ° h−1 rad s−1
Marine 0.01 10−4 0.001 5×10−9

Aviation 0.03–0.1 3×10−4–10−3 0.01 5×10−8
Intermediate 0.1–1 10−3–10−2 0.1 5×10−7
Tactical 1–10 0.01–0.1 1–100 5×10−6–5×10−4
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Table 2.
Tactical- and Aviation-Grade INS Characteristics
Sensor grade Tactical Aviation
Initial position error SD 10 m 10 m

−1
Initial velocity error SD 0.1 m s 0.01 m s−1
Initial (roll and pitch) attitude error SD 1 mrad 0.1 mrad
−2
Accelerometer bias SD 0.01 m s (1 mg) 0.001 m s−2 (0.1 mg)
Gyro bias SD 5×10−5 rad s−1 (10° h−1) 5×10−8 rad s−1 (0.01° h−1)
Accelerometer noise PSD 10−6 m2 s−3 (100°g/Hz)2 10−7 m2 s−3 (32°g/Hz)2
Gyro noise PSD 10−9 rad2 s−1 (0.1°/h)2 10−12 rad2 s−1 (0.003°/h)2
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Experiments For Element Spacing On A 2 by 2 Patch Antenna Array

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Experiments for element spacing on a 2 by 2 patch antenna array

Conference Paper · May 2017

Kirote Arpanutud Denchai Worasawate

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La-or Kovavisaruch Kazuhiko Fukawa

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Typical Accelerometer and Gyro Biases for Different Grades of IMU

Accelerometer bias Gyro bias

Marine 0.01 10−4 0.001 5×10−9

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C. SIMPLE INERTIAL-FRAME NAVIGATION EQUATIONS

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A. INTRODUCTION TO THE KALMAN FILTER

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