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) | 2.82 | 1.97 | 2.99 | 10.41 | 7.60 | 10.62 |
GIL (m) | 1.41 | 1.25 | 1.70 | 3.35 | 5.05 | 3.56 |
Improvement (%) | 50.0 | 36.5 | 43.1 | 67.8 | 33.6 | 66.5 |