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Table 7 RMSEs and maximum error of position for PPP/INS and GIL solutions in GNSS difficult experiment

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