Table 2 Error statistics of INS/GNSS-based estimated navigation solution in open sky area
From: Performance of LiDAR-SLAM-based PNT with initial poses based on NDT scan matching algorithm
E (m) | N (m) | U(m) | Along-track (m) | Cross-track (m) | H (m) | 3D (m) | 3D Improve (%) | |
|---|---|---|---|---|---|---|---|---|
INS/GNSS (initial guess) | 0.04 | 0.21 | 0.06 | 0.21 | 0.03 | 0.21 | 0.22 | – |
INS/GNSS + NDT + FDE (LM) | 0.20 | 1.02 | 0.15 | 1.04 | 0.13 | 1.03 | 1.05 | –377.27 |
INS/GNSS + NDT + FDE (LM + LO) | 0.04 | 0.21 | 0.06 | 0.21 | 0.03 | 0.21 | 0.22 | 0.02 |