Dynamic Lever Arm Error Compensation of POS Used for Airborne Earth Observation

Table 3

Measurement error comparison of the first-level dynamic lever arm error compensation.

Parameters measured by the main POS		The measurement error (RMSE)
		Conventional rigid lever arm error compensation	Proposed dynamic lever arm error compensation
Position (m)	Latitude	0.9377	0.0348
	Longitude	2.0680	0.0259
	Height	2.4657	0.0800
Velocity (m/s)	East velocity	0.0089	0.0067
	North velocity	0.0085	0.0077
	Upward velocity	0.0131	0.0091
Attitude (°)	Heading	0.0382	0.0266
	Pitch	0.0132	0.0115
	Roll	0.0034	0.0027