Table 4 Mean error statistic of INS/GNSS-based estimated navigation solution in GNSS-challenging environment
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) | 0.28 | 0.44 | 0.06 | 0.46 | 0.25 | 0.52 | 0.52 | – |
INS/GNSS + NDT + FDE (LM) | 0.24 | 1.27 | 0.47 | 1.25 | 0.30 | 1.29 | 1.37 | –161.97 |
INS/GNSS + NDT + FDE (LM + LO) | 0.24 | 0.42 | 0.06 | 0.44 | 0.24 | 0.48 | 0.48 | 8.33 |