State-Space Measurement Update for GNSS/INS Integrated Navigation

Figure 7

Attitude errors of using GNSS pseudoranges and carrier phases for integration when different models are used (A, loosely coupled with empirical variances; B, loosely coupled with variances from GNSS SPP; C, loosely coupled with variance from GNSS SPP neglecting the covariance; D, tightly coupled with GNSS pseudoranges’ variances).