N; (c) the relative error of gyro bias estimation; (d) the relative error relative error of attitude; (b) the relative error of position; (c) the relative error of gyro bias estimation; (d) the relative error of accelerometer bias estimation. of accelerometer bias estimation.As shown in Figure 3a, the modify with the filter structure final results in fluctuation from the As shown in Figure 3a, the modify of your filter structure outcomes in aa fluctuation of relative attitude error. Amongst the attitude errors, the relative yaw error reaches the the relative attitude error. Amongst the attitude errors, the relative yaw error reaches the maximum value of two.2 `without covariance transformation. As a comparison, the maximum value of 2.2 `without covariance transformation. As a comparison, the covaricovariance transformation Acetamide Autophagy reduces this error to error to 0.3`. shows that the relative ance transformation process system reduces this 0.3′. Figure 3bFigure 3b shows that the relative position error m, regardless ten m, no matter no matter if the covariance position error is significantly less than 10 is less than of whether the covariance transformation is made use of. transformation is employed. navigation filter makes use of the navigation filter utilizes the position The INS/GNSS-integrated The INS/GNSS-integrated position info offered by information supplied appropriate the observations to correct less position error. As shown GNSS as observations toby GNSS as INS final results, resulting inthe INS benefits, resulting in less inposition3c,d, the maximum bias error of your maximum bias error on the gyroscope with Figure error. As shown in Figure 3c,d, the gyroscope with and with out covariance and with no covariance transformation /h, respectively. and 0.01 h, respectively. of transformation reaches 0.003 /h and 0.01reaches 0.003 h The maximum bias error The maximum bias with and with no covariance transformation reaches 6 transformation the accelerometererror with the accelerometer with and without covariance and 50 , reaches six ug and 50 ug, respectively. Since the non-diagonal Carboprost custom synthesis elements inside the covarirespectively. Because of the non-zero values of of the non-zero values in the non-diagonal elements inside the covariance matrix, the bias estimates from the gyroscope impacted by the ance matrix, the bias estimates in the gyroscope and accelerometer areand accelerometer are affected by other error states. Consequently, the bias Because of this, bias estimates cross-coupling ofthe cross-coupling of other error states. estimates from the gyroscope andof the gyroscope and accelerometer accelerometer also show instability.also show instability. The flight experiment was repeated six instances. The results ofof the experiments would be the flight experiment was repeated six times. The outcomes the experiments are shown inin Tables and two. two. shown Tables 1 1 andTable 1. The relative error, based on the covariance transformation in six experiments. Experiment Quantity 1 two Attitude Error 1/’ 0.67 0.64 Position Error/m 0.six 0.58 Accelerometer Bias Estimation Error 2/ug 9.48 9.24 Gyro Bias Estimation Error 2/(h) 0.002 0.Appl. Sci. 2021, 11,9 ofTable 1. The relative error, depending on the covariance transformation in six experiments. Experiment Number 1 2 3 4 five six averageAttitude Error 1 / 0.67 0.64 0.93 0.61 0.66 0.26 0.Position Error/m 0.6 0.58 0.17 0.47 0.44 0.17 0.Accelerometer Bias Estimation Error 2 / 9.48 9.24 1.ten 9.26 9.36 1.12 6.Gyro Bias Estimation Error 2 /( /h) 0.002 0.0023 0.0022 0.0003 0.0003 0.0003 0.The attitude error refe.