Table 5 Mean error statistic of 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 (%) | |
|---|---|---|---|---|---|---|---|---|
GNSS (initial guess) | 2.67 | 2.04 | 7.03 | 2.17 | 2.40 | 3.36 | 7.79 | – |
GNSS + NDT + FDE (LM) | 0.43 | 2.28 | 0.47 | 2.26 | 0.53 | 2.23 | 2.36 | 69.62 |
GNSS + NDT + FDE (LM + LO) | 0.43 | 1.95 | 0.42 | 1.97 | 0.31 | 1.99 | 2.04 | 73.81 |