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 9

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

	GC			GCIO
	E (m)	N (m)	U (m)	E (m)	N (m)	U (m)	Heading (°)	Pitch (°)	Roll (°)
RMS	—	—	—	0.210	0.044	0.420	0.042	0.050	0.030