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 | ||
|---|---|---|---|
| Â | 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 |