Navigation System Heading and Position Accuracy Improvement through GPS and INS Data Fusion

Table 1

Heading and position errors.

	EKF	UKF	GPS COG
Heading (RMSEheading)	0.326 deg.	0.2196 deg.	8.1218 deg.
Position (RMSEposition)	1.12 m	1.12 m	1.33 m