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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