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 3

Mean DOPs of GPS+BDS for 10° to 35° cut-off elevation angles.

Cut-off angle (°)	10	15	20	25	30	35
PDOP	1.3000	1.3000	1.8000	2.0356	2.5222	3.6000
HDOP	0.6000	0.6000	0.8000	0.8000	0.9000	1.1000
VDOP	1.1000	1.1000	1.6072	1.8761	2.3750	3.4000