Performance Analysis of Two-Dimensional Dead Reckoning Based on Vehicle Dynamic Sensors during GNSS Outages

Table 10

Average RMS error of yaw during GNSS outages for second trajectory.

Integration strategies	Average of RMS error of yaw during GNSS outages [deg]
	First epoch	Last epoch	Difference (last − first)
GNSS/WSS	0.52	5.75	5.23
GNSS/WSS/YRS	0.36	2.88	2.52
GNSS/WSS/YRS/SAS	0.34	2.80	2.46