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

Table 7

Statistic results of position drift errors in 60 sec GPS outages for different simplifications (tactical grade IMU, 200 Hz); unit: m.

	Standard algorithm (200 Hz)	No Coriolis accel.	No rotation correction	No sculling correction	No coning correction
Mean	5.07	5.11	5.06	5.07	5.07
RMS	5.77	5.98	5.77	5.78	5.77
Max	11.05	12.52	11.06	11.06	11.05