Table 3.
Testing results summary.
| Method | POS | RMS value | Improvement (%) | ||
| Original(KF) | Compensated | Against KF | Against RTS | ||
| Tj-1 (KF + ANN) | North(m) | 25.28 | 4.18 | 79 | -- |
| East(m) | 23.15 | 6.57 | 72 | -- | |
| Height(m) | 6.45 | 0.85 | 87 | -- | |
| Roll(deg) | 0.982 | 0.244 | 75 | -- | |
| Pitch(deg) | 0.753 | 0.283 | 63 | -- | |
| Heading(deg) | 48.702 | 8.043 | 84 | -- | |
| Tj-2 (KF+ ANN) | North(m) | 28.54 | 6.21 | 78 | -- |
| East(m) | 23.12 | 7.58 | 67 | -- | |
| Height(m) | 5.12 | 0.75 | 85 | -- | |
| Roll(deg) | 0.782 | 0.212 | 73 | -- | |
| Pitch(deg) | 0.854 | 0.381 | 55 | -- | |
| Heading(deg) | 13.25 | 2.18 | 84 | -- | |
| Method | POS | Original(RTS) | Compensated | Against KF | Against RTS |
| Tj-1 (RTS+ ANN) | North(m) | 0.43 | 0.18 | 99 | 58 |
| East(m) | 0.32 | 0.15 | 99 | 53 | |
| Height(m) | 0.23 | 0.08 | 99 | 65 | |
| Roll(deg) | 0.543 | 0.125 | 87 | 78 | |
| Pitch(deg) | 0.325 | 0.083 | 89 | 74 | |
| Heading(deg) | 24.325 | 3.854 | 92 | 84 | |
| Tj-2 (RTS + ANN) | North(m) | 0.38 | 0.17 | 99 | 55 |
| East(m) | 0.34 | 0.13 | 99 | 62 | |
| Height(m) | 0.27 | 0.09 | 99 | 67 | |
| Roll(deg) | 0.256 | 0.103 | 81 | 60 | |
| Pitch(deg) | 0.312 | 0.124 | 85 | 61 | |
| Heading(deg) | 4.875 | 1.235 | 89 | 75 | |
| Remark | --Left blank intentionally | ||||