A New Efficient Filtering Model for GPS/SINS Ultratight Integration System

Table 2

Position errors.

	Latitude (m)		Longitude (m)		Altitude (m)
	Mean	RMSE	Mean	RMSE	Mean	RMSE
D-UTC	1.04	1.21	1.00	1.34	0.86	1.16
C-UTC	0.88	1.09	0.51	0.72	1.23	1.52