Research Article
GPS/Reduced IMU with a Local Terrain Predictor in Land Vehicle Navigation
Table 6
Horizontal and vertical position error
comparison between GPS/reduced IMU with and without LTP at the end
of GPS outage.
| | Reduced IMU | RMS of position error (m)
| | Horizontal |
Vertical
| | LTP | No LTP | LTP | No LTP |
| | 3A1G
(HG1700) | 104 | 219 | 10 | 15 | | 2A1G
(HG1700) | 104 | 223 | 12 | 12 | | 3A1G
(Crista) | 103 | 221 | 11 | 12 | | 2A1G
(Crista) | 103 | 220 | 11 | 12 |
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