Fig. 10From: Semi-tightly coupled integration of multi-GNSS PPP and S-VINS for precise positioning in GNSS-challenged environmentsAccuracy comparison of the multi-GNSS PPP/S-VINS solution, multi-GNSS PPP/INS (LC) solution, and multi-GNSS PPP/INS (TC) solution in a GNSS-challenged environmentBack to article page