Table 3 Error statistics of 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 (%) | |
|---|---|---|---|---|---|---|---|---|
GNSS (initial guess) | 0.03 | 0.29 | 0.09 | 0.29 | 0.30 | 0.29 | 0.31 | – |
GNSS + NDT + FDE (LM) | 0.20 | 1.37 | 0.16 | 1.38 | 0.13 | 1.38 | 1.39 | –348.38 |
GNSS + NDT + FDE (LM + LO) | 0.03 | 0.27 | 0.09 | 0.27 | 0.01 | 0.27 | 0.28 | 9.67 |