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

Table 4

Altitude error.

	Pitch		Roll		Yaw
	Mean	RMSE	Mean	RMSE	Mean	RMSE
D-UTC	0.0073	0.0106	0.0142	0.0214	0.0149	0.0144
C-UTC	0.0153	0.0200	0.0429	0.0245	0.0065	0.0179