Table 2.

Comparison of five estimation strategies in terms of velocity error.

Method	RMSE (m/s)
	The first trajectory		The second trajectory		Mean
	East	North	East	North
INS only	0.1391	0.1682	0.1400	0.0957	0.1358
WSN	0.0595	0.0854	0.0650	0.0794	0.0723
EKF	0.0441	0.0539	0.0424	0.0437	0.0460
IEKF	0.0425	0.0556	0.0412	0.0482	0.0469
The proposed method	0.0445	0.0546	0.0420	0.0462	0.0468