Efficiency Improvement of Kalman Filter for GNSS/INS through One-Step Prediction of Matrix

Table 3

Statistic values of the navigation errors and the estimated standard deviations of the standard and the simplified GPS/INS algorithms (#MTi-G).

			Mean	RMS	Max	STD (sqrt of matrix)
Position	North (m)	Standard	0.022	0.030	0.186	0.033
		Simplified	0.022	0.030	0.188	0.025
		Degradation (%)	0.00	0.00	1.08	—
	East (m)	Standard	0.020	0.026	0.194	0.031
		Simplified	0.020	0.026	0.194	0.023
		Degradation (%)	0.00	0.00	0.00	—
Velocity	North (m/s)	Standard	0.014	0.019	0.167	0.026
		Simplified	0.014	0.019	0.169	0.019
		Degradation (%)	0.00	0.00	1.20	—
	East (m/s)	Standard	0.013	0.017	0.086	0.026
		Simplified	0.013	0.017	0.086	0.019
		Degradation (%)	0.00	0.00	0.00	—
Attitude	Roll (°)	Standard	0.073	0.091	0.433	0.094
		Simplified	0.074	0.092	0.436	0.085
		Degradation (%)	1.37	1.10	0.69	—
	Pitch (°)	Standard	0.105	0.125	0.506	0.093
		Simplified	0.105	0.125	0.507	0.084
		Degradation (%)	0.00	0.00	0.20	—
	Heading (°)	Standard	0.698	0.861	2.596	0.719
		Simplified	0.677	0.838	2.549	0.705
		Degradation (%)	−3.01	−2.67	−1.81	—