RMSE
INS/GPS
INS/GPS/Magnetometer
1.2920 deg
0.8919 deg
7.9270 × 10−4 deg
4.9154 × 10−4 deg
0.001 deg
6.5734 × 10−4 deg
0.0241 m/s
0.0039 m/s
0.0502 m/s
0.0249 m/s
0.0293 m/s
0.0272 m/s
1.3770 × 10−7 deg
6.6954 × 10−7 deg
6.9986 × 10−7 deg
6.2250 × 10−7 deg
0.2956 m
0.1466 m