Performance Analysis and Architectures for a MEMS-SINS/GPS Ultratight Integration System

Table 2

The RMS of PLL detector outputs of two ultratight integration system.

	PRN1	PRN17	PRN7	PRN11	PRN8	PRN18
SINS-assisted GPS ultratight integration	0.9285	0.9548	0.9155	0.9252	0.9206	0.9132
MEMS-SINS/GPS ultratight integration	0.9465	0.9546	0.9353	0.9422	0.9206	0.9222