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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