Table 4 RMSEs and maximum error of position for multi-GNSS PPP/INS and GIL solutions in GNSS partly-blocked experiment
From: GIL: a tightly coupled GNSS PPP/INS/LiDAR method for precise vehicle navigation
Items | Position RMSEs | Maximum position error | ||||
|---|---|---|---|---|---|---|
East | North | Up | East | North | Up | |
Multi-GNSS PPP/INS (m) | 0.81 | 0.76 | 0.82 | 7.01 | 3.58 | 7.55 |
GIL (m) | 0.30 | 0.37 | 0.31 | 1.39 | 0.79 | 1.00 |
Improvement (%) | 63.0 | 51.3 | 62.2 | 80.2 | 77.9 | 86.8 |