Skip to main content

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
  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