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 8

RMS of the positioning accuracy of GC/GCIO combination in urban wooded street.

	GC			GCIO
	E (m)	N (m)	U (m)	E (m)	N (m)	U (m)	Heading (°)	Pitch (°)	Roll (°)
RMS	2.689	1.700	6.658	0.109	0.092	0.132	0.612	0.090	0.087