Table 6 RMSEs of attitude 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 | Attitude RMSEs | ||
|---|---|---|---|
| Â | Yaw | Pitch | Roll |
Multi-GNSS PPP/INS (°) | 3.97 | 0.17 | 0.19 |
GIL (°) | 1.45 | 0.12 | 0.17 |
Improvement (%) | 63.5 | 29.4 | 10.5 |