Table 3 Comparison of the performance of the five schemes in the second test (174.77 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

8.90

0.051

18.67

0.107

Height error

1.66

0.009

3.99

0.023

Scheme 2

Horizontal error

8.96

0.051

19.08

0.109

Height error

0.89

0.005

2.61

0.015

Scheme 3

Horizontal error

5.49

0.031

11.23

0.064

Height error

1.23

0.007

1.83

0.010

Scheme 4

Horizontal error

5.25

0.030

10.90

0.062

Height error

0.60

0.003

1.12

0.006

Scheme 5

Horizontal error

4.70

0.027

10.17

0.058

Height error

0.44

0.002

1.11

0.006

  1. Significant values are in bold.
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