OXTS RT1003, Руководство пользователя

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Oxford Technical Solutions
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You can see the INS is nearly at specification after just this small amount of driving.
However, experience tells us the Kalman filter will continue to make some improvements
(not obvious) during the first few figures of eight. The main part of the motion occurs after
1100 seconds when the vehicle was driven in figures of eight for six minutes.
These are fairly large figures of eight driven at relatively low speeds. Notice the brake stops
in the velocity graph ((a) in Figure 47) where the speed falls to zero. These are important
parts of the warm-up-so as many states in the Kalman filter as possible can be updated.
Notice how close to the specification the INS is even without the figure of eight manoeuvres.
A proper warm-up is recommended in order to achieve the highest level of accuracy.
However the effect is small and only significant when you need the full performance of the
INS.