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 6

RMS of the pose accuracy of GC/GCIO combination in urban open environment.

	GC			GCIO
	E (m)	N (m)	U (m)	E (m)	N (m)	U (m)	Heading (°)	Pitch (°)	Roll (°)
RMS	0.013	0.012	0.024	0.008	0.006	0.014	0.038	0.026	0.036