(2015); Forsythe and Saunders (2008) describe how the assigned AMV

velocity error increases with the vertical wind shear in the model.

For position estimation, Figure 9 and Table 1 show that the estimation accuracy on the latitude and longitude of UPS is better than that of URTSS, and the estimation accuracy on the height of UPS is lower than that of URTSS, which corresponds to the up

velocity error result.

In accelerated motion ([f.sub.x] [not equal to] 0, [f.sub.y] [not equal to] 0), according to the accelerometer error parameters and (12), we can conclude that when [absolute value of [f.sub.y]] > 1.67g and [absolute value of [f.sub.z]] > 1.67g, the influence of the accelerometer scale factor errors aS[F.sub.y] and aS[F.sub.z] on the north

velocity error and upward

velocity error is greater than that of accelerometer bias [aB.sub.y] and [aB.sub.z].

The IMM-MF average

velocity error is around 33.51 m/s, while the IMM, IMMH, and DIMM average

velocity errors are around 96.01 m/s, 36.25 m/s, and 59.85 m/s, respectively.

From Figures 8(a) and 8(b) it can be seen that, throughout the journey,

velocity errors in east and north are around 0 km/h.

Figure 7 shows the results of the system of (32) applying the SDRE control signal U with their results for the states (x1 and x2) and the

velocity error (ex) obtained for the case with velocity constant of 8.415 rad/s (10 km/h).

So the initial relative position error and

velocity error between the leader-satellite and the following-satellite are

To solve this problem, we extend the previous controller by using the angular position error and angular

velocity error for the controller.

The response variables are miss distance and impact

velocity error.

Here, it is divided by reference velocity to be dimensionless so that they might be plotted and also

velocity error is reduced as follows:

Computation of the relative

velocity error on the basis of the results obtained in points 7 and 8.

Table 2 shows the comparison of five estimation strategies in terms of

velocity error. It can be seen that the EKF, IEKF, and the proposed method are able to reduce the

velocity error compared with the IN S and the WSN, respectively.