Correction of Misalignment Errors in the Integrated GNSS and Accelerometer System for Structural Displacement Monitoring

Table 3

Statistics of displacement errors based on the six computation schemes for the random displacement test (unit: mm).

Computation schemes	GNSS	ACC	EMD	CMRKF	CMRKF-MA	UMRKF-MA
Peak error	8.9	21.7	11.3	32.6	9.1	5.8
RMSE	2.4	12.2	2.7	12.7	2.2	1.5