The total noise variance at the output of the carrier-smoothing filter is and cannot decrease below the value even if M tends to infinity. Then, one criterion to set the value of parameter M is to make the variances of two noise components equal: With this value of M, the noise ...
, the position, velocity, attitude and the lever arm offset), the estimated inertial sensor error states (bias and scale factor) are fed back to correct the raw INS measurements, the gravity errors are also fed back to INS mechanization. It is expected that the integation system can be ...