Algorithm Improvement of the Low-End GNSS/INS Systems for Land Vehicles Navigation

Table 11

Summary of drift error in 60 sec GPS outages (MEMS IMU); unit: m.

	Standard algorithm (100 Hz)	Modified algorithm (100 Hz)	Standard algorithm (10 Hz)	Modified algorithm (10 Hz)
Mean	80.16	80.42	83.85	85.95
RMS	95.21	95.54	99.88	102.99
Max	198.20	198.93	210.26	212.09