Unverified50% confidenceFactExact time
GPS通常更新率为1-20Hz，INS可提供100-400Hz的高频姿态和位置更新但会累积漂移误差，两者通过扩展卡尔曼滤波或因子图优化融合可实现厘米级精度
1
Sources
50%
Confidence
Long-term
Relevance
8/9/2026
First Seen
Sources
CANOE数据集：水面无人艇多传感器感知的开源基准
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