Skip to main content

Table 5 RMS of position differences for S-VINS solution, multi-GNSS PPP/S-VINS solution, LC multi-GNSS PPP/INS solution, and TC multi-GNSS PPP/INS solution (unit: m)

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

RMS in different directions for S-VINS

RMS in different directions for Multi-GNSS

PPP/S-VINS

RMS in different directions for Multi-GNSS

PPP/INS (LC)

RMS in different directions for Multi-GNSS

PPP/INS (TC)

E

N

U

E

N

U

E

N

U

E

N

U

12.75

6.23

0.53

0.88

1.47

0.96

3.48

1.18

3.36

0.62

0.53

3.27