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

Table 4

Average RMS error of horizontal position during GNSS outages for first trajectory.

Integration strategies	Average of RMS error of horizontal position during GNSS outages [m]
	First epoch	Last epoch	Difference (last − first)
GNSS/WSS	2.03	9.16	7.13
GNSS/WSS/YRS	1.77	7.18	5.41
GNSS/WSS/YRS/SAS	1.75	6.09	4.34