Stimation; (d) the relative error of accelerometer bias estimation. of accelerometer bias estimation.As is often seen in Figure 4a, amongst the attitude errors, the relative yaw error is the largest. 5. Conclusions yaw error reaches five `without covariance transformation. The integrated The relative The advantage with covariance Bifeprunox Protocol transformation strategy is that yaw error of 0.2`. navigation outcome of thecovariance transformation features a much less relative it establishes the As transformation connection of theposition error is 12 m, without in between the n-frame as well as the shown in Figure 4b, the relative integrated navigation filter covariance transformation. G-frame. It fundamentally solves the issue of transformation shows superior stability along with a integrated navigation result with covariance filter overshoot and error discontinuity. brought on by the adjust in navigation 8 m. As improving navigation accuracy when crossing the smaller sized relative position error of frame, shown in Figure 4c,d, the maximum bias error of your polar area. In addition to this, the covariance transformation technique does not alter h, gyroscope with and without having covariance transformation reached 0.001 h and 0.02 the existing navigation algorithm. The resultsthe the flight experimentand with out covariance respectively. The maximum bias error of of accelerometer, with and semi-physical simulation show that the covariance transformation approach is powerful at any latitude. As transformation, reached 0.1 ug and 25 ug, respectively. the latitude increases, the horizontal component of the earth’s rotational angular velocity decreases, resulting in weaker observability in the yaw angle error. The error fluctuation 5. Conclusions caused by the frame switching will increase. Within this case, the covariance transformation The advantage with the covariance transformation system is that it establishes the technique nonetheless makes a smooth transformation via the integrated navigation filter. transformation partnership with the integrated navigation filter in between the n-frame and Gframe. It fundamentally solves the problem of curation, Y.Z.; formal analysis, Y.Z.; investigaAuthor Contributions: Conceptualization, L.W.; data filter overshoot and error discontinuity. brought on tion,by the adjust in navigation frame, improving navigation draft, Y.Z.;when crossing the polar C.G.; methodology, L.W.; supervision, G.W.; writing–original accuracy writing–review and area. Apart from this, the covariance transformation strategy does not alter the current editing, L.W. All authors have read and agreed to the published version from the Sofpironium mAChRNeuronal Signaling|Sofpironium Protocol|Sofpironium References|Sofpironium custom synthesis|Sofpironium Epigenetics} manuscript. navigation algorithm. The outcomes in the flight experiment and semi-physical simulation show Funding: This investigation was funded by the National Nature Science Foundation of China, grant that the covariance transformation strategy is productive at any latitude. Because the latitude quantity 62003360, and the Fundamental Study Project of College of Sophisticated Interdisciplinary Research, increases, the horizontal component on the earth’s rotational angular velocity decreases, grant number ZDJC19-07. resulting in weaker observability with the yaw angle error. The error fluctuation caused by the frame switching will enhance. Within this case, the covariance transformation method still makes a smooth transformation through the integrated navigation filter.Author Contributions: Conceptualization, L.W.; information curation, Y.Z.; formal evaluation, Y.Z.; investigation, C.G.; methodology, L.W.; supervision, G.W.; writing–original d.
