State-Space Measurement Update for GNSS/INS Integrated Navigation

Table 6

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)	0.0259	0.0095	0.0120	0.0094	0.0338	0.0403	0.0558	0.0390
N (m)	0.0243	0.0082	0.0104	0.0081	0.0322	0.0411	0.0566	0.0383
U (m)	0.0470	0.0191	0.0104	0.0192	0.0575	0.0420	0.0477	0.0430
Ve (m/s)	0.0119	0.0141	0.0139	0.0140	0.0194	0.0198	0.0198	0.0198
Vn (m/s)	0.0113	0.0127	0.0125	0.0126	0.0176	0.0186	0.0184	0.0185
Vu (m/s)	0.0089	0.0066	0.0061	0.0065	0.0134	0.0078	0.0220	0.0084
Pitch (degree)	0.0201	0.0407	0.0410	0.0394	0.0314	0.0466	0.0457	0.0468
Roll (degree)	0.0315	0.0415	0.0375	0.0403	0.0423	0.0445	0.0432	0.0444
Yaw (degree)	0.0764	0.0542	0.0558	0.0542	0.1441	0.1075	0.1133	0.1098