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

Figure 8

Errors of velocity and attitude calculated by the integration models of INS/NHC, INS/NHC/RTS, UWB, UWB/INS/RTS, and UWB/INS/NHC/RTS.

(a)

(b)