Table 6.

Comparison of position errors of the classical and proposed compensation method in vehicle tests.

Trace	Type	Run No.	True Ground (GPS/INS)	Navigation Errors by Classical Compensation	Navigation Errors by Proposed Compensation
Straight Line	East (m)	1	−337.83	−4.92	−3.55
		2	−338.67	12.98	15.94
		3	−343.46	6.14	−1.13
		4	−341.29	10.32	12.39
		5	−340.12	−3.34	6.57
		Absolute Mean		7.54	7.92
	North (m)	1	324.61	1.27	2.61
		2	325.37	9.43	12.93
		3	323.48	3.94	3.89
		4	318.50	4.59	6.12
		5	320.74	7.45	5.83
		Absolute Mean		5.33	6.27
Circle Loop	East (m)	1	−2.79	−8.41	−16.26
		2	0.53	−9.03	−12.71
		3	0.14	8.73	9.02
		4	−1.94	15.57	13.39
		5	1.45	−11.75	−10.44
		Absolute Mean		11.39	12.36
	North (m)	1	2.24	−2.14	−1.91
		2	−0.99	3.87	−4.60
		3	−0.83	0.95	2.31
		4	1.27	4.60	3.04
		5	3.04	−6.39	7.12
		Absolute Mean		3.59	3.80