System-Level Temperature Compensation Method for the RLG-IMU Based on HHO-RVR

Table 2

Performance comparison.

The temperature-related parameter	Root mean square error			Mean absolute error			-squared
	The least square method	HHO-RVR	Improvement (%)	The least square method	HHO-RVR	Improvement (%)	The least square method	HHO-RVR	Improvement (%)
			6.28			4.56			0.47
			21.42			19.76			4.15
			18.72			22.03			9.13
			2.37			4.61			5.96
			28.85			23.87			5.06
			0.84			1.03			0.21
			43.29			38.31			0.002
			77.91			78.14			9.15
			78.14			79.72			0.15
			13.41			22.26			0.001
			80.12			83.51			0.02
			7.77			32.17			0.001
			39.59			51.58			0.002
			74.45			78.67			0.02
			35.90			49.09			0.004