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

Table 12

Statistic values (RMS) of position errors with continuous GPS updates (MEMS IMU).

	Standard algorithm (100 Hz)	Modified algorithm (100 Hz)	Standard algorithm (10 Hz)	Modified algorithm (10 Hz)
Pos_error (m)	0.088	0.087	0.086	0.086
Vel_error (m/s)	0.033	0.032	0.034	0.033
Att_error (deg)	0.197	0.199	0.197	0.200
Yaw_error (deg)	0.672	0.670	0.675	0.674