MCTLS-Assisted Completed SINS/GPS Integrated and Applied to Low-Cost Attitude and Heading Reference System

Table 2

RMSEs of attitude, velocity, and position via the traditional SINS/GNSS loosely coupled integrated and the proposed completed integration framework.

Methods	PosN	PosE	Height	VelN	VelE	VelD	Heading	Pitch	Roll
	(m)			(m/s)			(deg)
Traditional AHRS	1.229	1.084	2.836	0.065	0.041	0.152	1.39	0.329	0.233
Proposed AHRS	1.063	1.061	2.652	0.052	0.040	0.122	0.92	0.304	0.212