Performance Analysis of Two-Dimensional Dead Reckoning Based on Vehicle Dynamic Sensors during GNSS Outages

Table 6

Average RMS error of yaw during GNSS outages for first trajectory.

Integration strategies	Average of RMS error of yaw during GNSS outages [deg]
	First epoch	Last epoch	Difference (last − first)
GNSS/WSS	1.07	2.61	1.54
GNSS/WSS/YRS	0.74	1.74	1.00
GNSS/WSS/YRS/SAS	0.60	1.41	0.81