GPS/Reduced IMU with a Local Terrain Predictor in Land Vehicle Navigation

Table 5

Attitude and velocity error statistics of GPS/reduced IMU with LTP.

Reduced IMU	RMS of attitude			RMS of velocity
	error (Deg.)			error (m/s)
	Pitch	Roll	Azimuth	East	North	Up
3A1G (HG1700)	0.57	0.58	1.38	0.08	0.08	0.05
2A1G (HG1700)	0.57	0.59	1.35	0.08	0.08	0.09
3A1G (Crista)	0.72	0.70	2.38	0.08	0.08	0.08
2A1G (Crista)	0.71	0.70	2.38	0.08	0.08	0.09