Table 1: Simulation parameters.

Gyro parameters

Constant drift

0.1/h

Random walk

0.4/h1/2

White noise

0.05/h

Sampling frequency

100 Hz

Accelerometer parameters

Zero bias

10-4 g

Random walk

1 m/s/h1/2

White noise

10-5 g

Sampling frequency

100 Hz

SAR parameters

Distance white noise

10 m

Distance rate white noise

0.2 m/s

Heading angle error

Horizontal positioning error

10 m

Sampling frequency

0.5 Hz

Barometric altimeter parameters

Altitude error

10 m

Sampling frequency

1 Hz