Scientific Reports

Table 3 Measurement results of left track irregularity in laboratory environments.

From: Novel method to measure track irregularity based on multiple MEMS-IMU and geometric constraint

ID	Horizontal (mm)						Vertical (mm)
	Single MEMS IMU		Our proposed		Fiber-optic IMU		Single MEMS IMU		Our proposed		Fiber-optic IMU
	RMSE	STD	RMSE	STD	RMSE	STD	RMSE	STD	RMSE	STD	RMSE	STD
S₁	1.33	1.07	0.85	0.66	0.71	0.53	1.29	1.04	0.82	0.63	0.69	0.51
S₂	1.28	0.99	0.79	0.58	0.67	0.46	1.24	0.98	0.77	0.56	0.65	0.44
S₃	1.42	1.01	0.91	0.61	0.78	0.48	1.39	1.03	0.89	0.59	0.76	0.46
S₄	1.36	1.06	0.88	0.69	0.73	0.56	1.31	1.05	0.84	0.65	0.71	0.54
S₅	1.23	0.98	0.76	0.56	0.63	0.44	1.21	0.96	0.75	0.54	0.61	0.42
Mean	1.32	1.02	0.83	0.62	0.71	0.49	1.28	1.01	0.81	0.59	0.68	0.47
Min	1.23	0.98	0.76	0.56	0.63	0.44	1.21	0.96	0.75	0.54	0.61	0.42
Max	1.42	1.07	0.91	0.69	0.78	0.56	1.39	1.05	0.89	0.65	0.76	0.54

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