Table 8 RMSEs and maximum error of velocity 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 | Velocity RMSEs | Maximum velocity error | ||||
|---|---|---|---|---|---|---|
| Â | East | North | Up | East | North | Up |
Multi-GNSS PPP/INS (m) | 0.20 | 0.21 | 0.18 | 0.85 | 1.09 | 0.93 |
GIL (m) | 0.11 | 0.10 | 0.09 | 0.49 | 0.47 | 0.43 |
Improvement (%) | 45.0 | 52.4 | 50.0 | 42.4 | 56.9 | 53.8 |