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. 2017 Jun 19;17(6):1438. doi: 10.3390/s17061438

Figure 6.

Figure 6

Figure 6

(a) Theoretical standard deviation of lateral position error; (b) The relationship of drifts for the equivalent vertical gyro; (c) Theoretical standard deviation of vertical position error; (d) The relationship of drifts for the equivalent lateral gyro; (e) Theoretical standard deviation of longitudinal position error; (f) The relationship of drifts for the odometer.