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

Table 4

Average positioning error statistics during three 30 s signal outages.

Item	Process method	E	N	U
RMS	Prop.	1.769	1.778	4.283
	Conv.	2.254	2.144	4.627
Mean	Prop.	−0.871	0.701	2.357
	Conv.	−1.130	0.873	2.454
Max. (abs)	Prop.	7.708	7.099	15.167
	Conv.	8.858	8.820	16.179

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