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

Table 8

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

			Mean	RMS	Max	STD (RMS)
Position	North (m)	Standard	0.022	0.030	0.186	0.033
		Simplified	0.026	0.034	0.212	0.023
		Degradation (%)	17.12	14.19	13.77	—
	East (m)	Standard	0.020	0.026	0.194	0.031
		Simplified	0.022	0.029	0.192	0.022
		Degradation (%)	13.20	9.92	−1.03	—
Velocity	North (m/s)	Standard	0.014	0.019	0.167	0.026
		Simplified	0.013	0.018	0.196	0.025
		Degradation (%)	−7.64	−5.82	17.81	—
	East (m/s)	Standard	0.013	0.017	0.086	0.026
		Simplified	0.012	0.016	0.089	0.025
		Degradation (%)	−6.77	−6.32	3.37	—
Attitude	Roll (°)	Standard	0.073	0.091	0.433	0.094
		Simplified	0.077	0.096	0.497	0.093
		Degradation (%)	5.20	5.38	14.58	—
	Pitch (°)	Standard	0.105	0.125	0.506	0.093
		Simplified	0.104	0.126	0.548	0.092
		Degradation (%)	−0.57	0.24	8.38	—
	Heading (°)	Standard	0.698	0.861	2.596	0.719
		Simplified	1.013	1.313	3.813	0.576
		Degradation (%)	45.23	52.44	46.86	—