Table 3.
RMS Error in the East Velocity, North Velocity, North and East Positions over Mobile Robot Trajectory (1).
| East Velocity (m/s) | North Velocity (m/s) | North Position (m) | East Position (m) |
|---|---|---|---|
| RMS Error between the C Double-Precision and C Single-Precision Offline Solutions | |||
| 4.12788 × 10−2 | 7.98887 × 10−3 | 2.96969 × 10−1 | 4.91848 × 10−1 |
| RMS Error between the C Double-Precision Offline and MicroBlaze Real-Time Solutions | |||
| 7.83599 × 10−10 | 1.44185 × 10−9 | 4.16753 × 10−9 | 1.85211 × 10−9 |
| RMS Error between the NovAtel SPAN Reference and MicroBlaze Real-Time Solutions | |||
| 9.60578 × 10−2 | 1.11987 × 10−1 | 9.05270 × 10−1 | 9.39925 × 10−1 |