Skip to main content

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
  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