A Tightly Coupled BDS/INS Integrated Positioning Algorithm Based on Triple-Frequency Single-Epoch Observations

Table 3

Average positioning error statistics during three 10 s signal outages.

Item	Process method	E	N	U
RMS	Prop.	0.213	0.172	0.422
	Conv.	0.309	0.248	0.450
Mean	Prop.	−0.082	0.001	0.133
	Conv.	−0.164	0.094	0.064
Max. (abs)	Prop.	0.883	0.685	1.573
	Conv.	0.949	0.865	1.289

Prop. stands for the proposed method. Conv. stands for the conventional method.