Performance of Tightly Coupled Integration of GPS/BDS/MEMS-INS/Odometer for Real-Time High-Precision Vehicle Positioning in Urban Degraded and Denied Environment

Table 10

The pose measurement RMS of GCIO combination in urban tunnel.

GC outage duration (s)	E (m)	N (m)	U (m)	Heading (°)	Pitch (°)	Roll (°)
10	0.071	0.201	0.164	0.048	0.064	0.074
30	0.203	0.308	1.398	0.134	0.066	0.067
60	0.249	1.033	12.355	0.143	0.075	0.06
120	0.328	1.735	12.386	0.144	0.081	0.057