Table 2.
Training results summary.
| Method | POS |
RMS value |
Improvement. (%) |
||
| Original(KF) | Compensated | Against KF | Against RTS | ||
| Tj-3 (KF + ANN) | North(m) | 30.5 | 1.76 | 94 | -- |
| East(m) | 16.48 | 1.28 | 92 | -- | |
| Height(m) | 3.84 | 0.31 | 92 | -- | |
| Roll(deg) | 0.182 | 0.025 | 87 | -- | |
| Pitch(deg) | 0.384 | 0.046 | 88 | -- | |
| Heading(deg) | 18.433 | 1.783 | 90 | -- | |
| Method | POS | Original(RTS) | Compensated | Against KF | Against RTS |
| Tj-3 (RTS + ANN) | North(m) | 0.44 | 0.15 | 99 | 66 |
| East(m) | 0.37 | 0.12 | 99 | 68 | |
| Height(m) | 0.21 | 0.03 | 99 | 86 | |
| Roll(deg) | 0.022 | 0.008 | 96 | 64 | |
| Pitch(deg) | 0.034 | 0.012 | 97 | 65 | |
| Heading(deg) | 1.541 | 0.3023 | 98 | 80 | |
| Remarks | --Left blank intentionally | ||||