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

Table 7

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

			Mean	RMS	Max	STD (RMS)
Position	North (m)	Standard	0.022	0.030	0.186	0.033
		Simplified	0.025	0.033	0.201	0.023
		Degradation (%)	13.51	10.81	7.96	—
	East (m)	Standard	0.020	0.026	0.194	0.031
		Simplified	0.022	0.028	0.189	0.022
		Degradation (%)	11.17	6.49	−2.53	—
Velocity	North (m/s)	Standard	0.014	0.019	0.167	0.026
		Simplified	0.013	0.018	0.186	0.025
		Degradation (%)	−7.64	−5.82	11.57	—
	East (m/s)	Standard	0.013	0.017	0.086	0.026
		Simplified	0.012	0.016	0.083	0.025
		Degradation (%)	−6.77	−6.32	−3.02	—
Attitude	Roll (°)	Standard	0.073	0.091	0.433	0.094
		Simplified	0.077	0.095	0.483	0.093
		Degradation (%)	4.92	4.62	11.38	—
	Pitch (°)	Standard	0.105	0.125	0.506	0.093
		Simplified	0.107	0.129	0.531	0.092
		Degradation (%)	2.01	2.72	4.98	—
	Heading (°)	Standard	0.698	0.861	2.596	0.719
		Simplified	0.977	1.204	2.928	0.596
		Degradation (%)	40.06	39.77	12.78	—