Table 3 Comparison of average RMSE on different algorithms in the simulation
From: M2C-GVIO: motion manifold constraint aided GNSS-visual-inertial odometry for ground vehicles
| Â | Position(m)/ | Orientation(deg)/ |
|---|---|---|
| Â | RR(%) | RR(%) |
MSCKF | 1.40 | 0.13 |
MSCKF+MC | 1.35/3.57 | 0.11/15.38 |
MSCKF+GNSS | 1.23/12.14 | 0.12/7.69 |
MSCKF+GNSS+MC | 1.00/28.57 | 0.12/7.69 |