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

Table 8

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

Integration strategies	Average of RMS error of horizontal position during GNSS outages [m]
	First epoch	Last epoch	Difference (last − first)
GNSS/WSS	1.91	15.54	13.62
GNSS/WSS/YRS	1.65	5.86	4.22
GNSS/WSS/YRS/SAS	1.64	5.57	3.93