Open Access

表3

隧道口定位误差统计

算法 δλ/m δL/m δVe/(m·s-1) δVn/(m·s-1) δyaw/(°)
P-INS 100 s误差 -227.7 -190.4 -4.208 -6.358 1.651
标准差 89.95 84.22 1.781 2.916 0.635
TMC-INS 100 s误差 54.1 -60.1 1.173 -1.783 0.435
标准差 20.83 21.40 0.545 0.739 0.174
CIAMC-INS 100 s误差 24.8 -30.2 0.663 -0.419 0.352
标准差 11.12 12.44 0.308 0.230 0.048

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