An Online Solution of LiDAR Scan Matching Aided Inertial Navigation System for Indoor Mobile Mapping

Table 2

The static positioning error statistics.

		RMS error	Mean error	Maximum error
Post-EKF	North	0.0013 (m)	0.0011 (m)	0.0057 (m)
	East	0.0036 (m)	0.0030 (m)	0.0132 (m)
	Heading	0.2030 (degree)	0.2019 (degree)	0.4243 (degree)
Online EKF	North	0.0033 (m)	0.0017 (m)	0.0127 (m)
	East	0.0046 (m)	0.0037 (m)	0.0154 (m)
	Heading	0.2319 (degree)	0.2386 (degree)	0.2869 (degree)