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Satellite Navigation

Table 4 RMS of position differences of the PPP solution and the S-VINS aided PPP solution for the GPS, GPS + GLONASS, GPS + BDS, and GPS + GLONASS + BDS

From: Semi-tightly coupled integration of multi-GNSS PPP and S-VINS for precise positioning in GNSS-challenged environments

Items

RMS in different directions for G

RMS in different directions for G + R

RMS in different directions for G + C

RMS in different directions for G + R+C

E

N

U

E

N

U

E

N

U

E

N

U

PPP (m)

1.24

2.54

5.59

1.00

2.35

5.70

1.11

2.40

4.98

0.95

1.95

4.09

S-VINS aided PPP (m)

0.99

1.73

2.49

0.76

1.82

3.17

0.89

1.36

2.60

0.95

1.57

1.32

Improvement (%)

20.2

31.9

55.5

24.0

22.6

44.4

19.8

43.3

47.8

0

19.5

67.7

3D positioning accuracy improvement (%)

49.0

40.3

45.6

51.2

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