Fig. 1. Block diagram of federated filter based INS/GNSS/TRN integrated navigation
Fig. 2. Altitude error of INS/GNSS navigation
Fig. 3. Horizontal error of INS/GNSS navigation
Fig. 4. Horizontal error of INS/GNSS navigation
Fig. 5. Horizontal navigation error of CFT
Fig. 6. Vertical navigation error of CFT
Fig. 7. Navigation error in GNSS denied environment
Table 1. Filter design parameter
Table 2. Result of CFT
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