Evaluation on Nonholonomic Constraints and Rauch–Tung–Striebel Filter-Enhanced UWB/INS Integration

<div>Position offsets of INS in different time-scales (a), and position RMS (b) of UWB/INS integration, UWB/INS/NHC integration, and UWB/INS/NHC/RTS integration while applying six UWB outage simulations.</div>

Mathematical Problems in Engineering

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Figure 10

Figure 10: Evaluation on Nonholonomic Constraints and Rauch–Tung–Striebel Filter-Enhanced UWB/INS Integration 