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

Table 2

Description of combination strategies of vehicle dynamic sensors for DR.

Combination strategies	Description
WSS	(i) Nonholonomic constraints are applied in lateral direction; (ii) WSS provides both the longitudinal velocity and yaw rate
WSS/YRS	(i) Nonholonomic constraints are applied in lateral direction; (ii) WSS and YRS provides the longitudinal velocity and yaw rate, respectively
WSS/YRS/SAS	(i) The side slip angle is computed by SAS and side slip ratio; (ii) YRS provides the yaw rate; (iii) Speed from WSS and side slip angle compute longitudinal and lateral velocity