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

Table 5

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

Integration strategies	Average of RMS error of horizontal velocity during GNSS outages [m/s]
	First epoch	Last epoch	Difference (last − first)
GNSS/WSS	0.25	0.43	0.18
GNSS/WSS/YRS	0.22	0.28	0.06
GNSS/WSS/YRS/SAS	0.22	0.26	0.04