Table 2 Comparison of the performance of the five schemes in the first test (170.56 Km).

From: A fault-tolerant sins/dual 2D-LDV tightly coupled integration scheme for autonomous vehicle navigation

Schemes

 

RMSE (m, ‰)

Max (m, ‰)

Scheme 1

Horizontal error

29.05

0.170

57.02

0.334

Height error

20.16

0.118

37.78

0.222

Scheme 2

Horizontal error

33.59

0.197

59.21

0.347

Height error

8.18

0.048

20.98

0.123

Scheme 3

Horizontal error

26.31

0.154

50.89

0.298

Height error

10.58

0.062

22.04

0.129

Scheme 4

Horizontal error

25.23

0.148

51.49

0.302

Height error

9.79

0.057

18.46

0.108

Scheme 5

Horizontal error

14.17

0.083

37.18

0.218

Height error

7.40

0.043

13.87

0.081

  1. Significant values are in bold.
Back to article page