Table 5 The comparison of statistical errors
From: A novel robust iterated CKF for GNSS/SINS integrated navigation applications
Algorithm | RMSE in the open area | RMSE in the area with severe urban canyon effect | Processing time (s) | ||||||
|---|---|---|---|---|---|---|---|---|---|
Position (m) | Velocity (m/s) | Position(m) | Velocity (m/s) | ||||||
East | North | East | North | East | North | East | North | ||
CKF | 0.70 | 0.72 | 0.15 | 0.13 | 2.14 | 7.87 | 0.23 | 0.23 | 0.0176 |
ICKF | 0.55 | 0.95 | 0.14 | 0.11 | 1.72 | 5.28 | 0.21 | 0.18 | 0.0276 |
Novel IRCKF | 0.53 | 0.63 | 0.11 | 0.11 | 0.67 | 0.47 | 0.14 | 0.13 | 0.0384 |