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

<table class="table-group" id="tab5"><tr><td><table class="table"><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr class="thead"><td class="align_left">Directions</td><td class="align_center">10 s (%)</td><td class="align_center">30 s (%)</td></tr><tr><td class="thead-hr" colspan="3"><hr/></td></tr><tr><td class="align_left">E</td><td class="align_center">31.1</td><td class="align_center">21.5</td></tr><tr><td class="align_left">N</td><td class="align_center">30.7</td><td class="align_center">17.1</td></tr><tr><td class="align_left">U</td><td class="align_center">6.2</td><td class="align_center">7.4</td></tr><tr><td class="align_left">Horizontal</td><td class="align_center">43.6</td><td class="align_center">27.5</td></tr><tr><td class="align_left">All</td><td class="align_center">44.1</td><td class="align_center">28.5</td></tr><tr class="table-tr"><td colspan="3"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

<div>The improvement of accuracy under different outage lengths.</div>

Mathematical Problems in Engineering

tab5

Table 5

Table 5: A Tightly Coupled BDS/INS Integrated Positioning Algorithm Based on Triple-Frequency Single-Epoch Observations 