Читать книгу Global Navigation Satellite Systems, Inertial Navigation, and Integration - Mohinder S. Grewal - Страница 153

Unfortunately, the probability‐based CEP statistic is not exactly compatible with the RMS statistics used in the Kalman filter Riccati equations ⁷ for characterizing INS performance. One must assume some standard probability density function (e.g. Gaussian) to convert mean‐squared horizontal position errors to CEPs.