Table 6.
RMS Error in the Latitude and Longitude Solutions over the Four Outages introduced in Mobile Robot Trajectory (2).
| North position (m) | East position (m) | |
|---|---|---|
| Outage (1) | RMS Error between the C Double-Precision and C Single-Precision Offline Solutions | |
| 3.00674 | 6.42866 | |
| RMS Error between the C Double-Precision Offline and MicroBlaze Real-Time Solutions | ||
| 1.37906 × 10−8 | 4.92348 × 10−8 | |
| RMS Error between the NovAtel SPAN Reference and MicroBlaze Real-Time Solutions | ||
| 7.91314 × 10−1 | 5.04586 × 10−1 | |
| Outage (2) | RMS Error between the C Double-Precision and C Single-Precision Offline Solutions | |
| 3.39406 | 4.07745 | |
| RMS Error between the C Double-Precision Offline and MicroBlaze Real-Time Solutions | ||
| 1.38649 × 10−6 | 4.47223 × 10−7 | |
| RMS Error between the NovAtel SPAN Reference and MicroBlaze Real-Time Solutions | ||
| 4.42573 × 10−1 | 1.33538 | |
| Outage (3) | RMS Error between the C Double-Precision and C Single-Precision Offline Solutions | |
| 1.45689 | 3.67700 | |
| RMS Error between the C Double-Precision Offline and MicroBlaze Real-Time Solutions | ||
| 3.14829 × 10−7 | 2.40989 × 10−7 | |
| RMS Error between the NovAtel SPAN Reference and MicroBlaze Real-Time Solutions | ||
| 7.32207 × 10−1 | 7.75539 × 10−1 | |
| Outage (4) | RMS Error between the C Double-Precision and C Single-Precision Offline Solutions | |
| 8.03891 × 10−1 | 3.30091 | |
| RMS Error between the C Double-Precision Offline and MicroBlaze Real-Time Solutions | ||
| 6.60678 × 10−9 | 2.16253 × 10−9 | |
| RMS Error between the NovAtel SPAN Reference and MicroBlaze Real-Time Solutions | ||
| 1.84932 | 1.11755 | |