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

Table 4

Measurement error comparison of the second-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	0.5470	0.2921
	Longitude	0.5738	0.2805
	Height	0.1816	0.0544
Velocity (m/s)	East velocity	0.0230	0.0210
	North velocity	0.0283	0.0255
	Upward velocity	0.0140	0.0132
Attitude (°)	Heading	0.0530	0.0221
	Pitch	0.1224	0.0062
	Roll	7.0999	0.0045