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Table 9 RMSEs of attitude 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 Attitude RMSEs
  Yaw Pitch Roll
Multi-GNSS PPP/INS (°) 3.73 0.22 0.10
GIL (°) 1.16 0.12 0.10
Improvement (%) 68.9 45.5 41.2