Table 5 RMSEs and maximum error of velocity 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 | Velocity RMSEs | Maximum velocity error | ||||
|---|---|---|---|---|---|---|
East | North | Up | East | North | Up | |
Multi-GNSS PPP/INS (m) | 0.15 | 0.06 | 0.10 | 0.66 | 1.08 | 1.10 |
GIL (m) | 0.06 | 0.03 | 0.04 | 0.23 | 0.28 | 0.22 |
Improvement (%) | 60.0 | 50.0 | 60.0 | 65.2 | 74.1 | 80.0 |