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 7

RMS of the positioning accuracy of GC/GCIO combination in high-rise street.

	GC			GCIO
	E (m)	N (m)	U (m)	E (m)	N (m)	U (m)	Heading (°)	Pitch (°)	Roll (°)
RMS	0.256	0.361	1.047	0.023	0.018	0.033	0.074	0.050	0.035