State-Space Measurement Update for GNSS/INS Integrated Navigation

Table 5

Mean and STD values of position, velocity, and attitude errors of using GNSS pseudoranges for integration when different integrations are used.

	Mean				STD
	A	B	C	D	A	B	C	D
E (m)	0.5805	0.4438	0.4526	0.4436	0.2843	0.2394	0.2370	0.2395
N (m)	0.8165	0.8680	0.8676	0.8681	0.4351	0.3910	0.3905	0.3910
U(m)	2.0099	2.0454	2.0333	2.0456	1.0576	0.6215	0.6237	0.6215
Ve (m/s)	0.0512	0.0266	0.0289	0.0266	0.0476	0.0229	0.0221	0.0229
Vn (m/s)	0.0440	0.0156	0.0152	0.0156	0.0503	0.0223	0.0217	0.0223
Vu (m/s)	0.0352	0.0330	0.0360	0.0330	0.0416	0.0140	0.0122	0.0140
Pitch (degree)	0.0242	0.0356	0.0312	0.0356	0.0304	0.0370	0.0351	0.0370
Roll (degree)	0.0231	0.0244	0.0239	0.0244	0.0417	0.0430	0.0421	0.0430
Yaw (degree)	0.1822	0.1371	0.1549	0.1371	0.1635	0.1160	0.1267	0.1167