A New Technique for Integrating MEMS-Based Low-Cost IMU and GPS in Vehicular Navigation

Figure 14

Available number of satellites during each outage for downtown trajectory: (a) outage #1, (b) outage #2, (c) outage #3, (d) outage #4, and (e) outage #5.

(a)

(b)

(c)

(d)

(e)