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

Table 9

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

Integration strategies	Average of RMS error of horizontal velocity during GNSS outages [m/s]
	First epoch	Last epoch	Difference (last − first)
GNSS/WSS	0.16	0.97	0.81
GNSS/WSS/YRS	0.12	0.32	0.20
GNSS/WSS/YRS/SAS	0.12	0.28	0.17