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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