Table 1 Specifications of the experimental apparatus.

IMU

Gyro bias stability

0.003°/h

Gyro random walk

0.0005◦/√h

Accelerometer bias stability

20 µg

Accelerometer random walk

5 µg/√h

Data update rate

100 Hz

2D-LDV

Measurement accuracy

0.08%

Data update rate

100 Hz

GNSS

Measurement accuracy

0.1 m (RTK)

Data update rate

10 Hz