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

Table 3

Velocity error.

	East velocity (m/s)		North velocity (m/s)		Up velocity (m/s)
	Mean	RMSE	Mean	RMSE	Mean	RMSE
D-UTC	0.020	0.027	0.014	0.019	0.019	0.029
C-UTC	0.019	0.030	0.024	0.020	0.017	0.034