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

Table 3

Comparison of navigation accuracy between three integration navigation systems.

Navigation error		Tight integration	SINS-assisted GPS ultratight integration	MEMS-SINS/GPS ultratight integration
Position error (m)	Latitude	2.4242	1.6330	0.8353
	Longitude	3.4942	1.5577	0.8161
	Altitude	4.1674	1.8185	0.8472
Velocity error (m/s)	East	0.0537	0.0549	0.0128
	North	0.1096	0.0441	0.0104
	Up	0.1230	0.0902	0.0124