Research Article

Algorithm Improvement of the Low-End GNSS/INS Systems for Land Vehicles Navigation

Table 10

Statistic values (RMS) of navigation errors with continuous GPS updates (tactical grade system).

Standard algorithm (200 Hz)Modified algorithm (200 Hz)Standard algorithm (10 Hz)Modified algorithm (10 Hz)

Pos_error (m)0.0590.0570.0590.055
Vel_error (m/s)0.0100.0100.0160.017
Att_error (deg)0.0150.0170.0250.030
Yaw_error (deg)0.0390.0410.0370.090