. 2018 Sep 12;18(9):3052. doi: 10.3390/s18093052

Table 10.

RMS Position Error Depending on Reference Solution Quality. Multi-Frequency/Multi-Constellation Algorithm with Odometry Aiding, ENU Coordinate Frame.

Inertial Explorer Quality Number	Perc. of Epochs, Data Set 1 (in %)	RMS of ${\tilde{p}}_{e n}^{n}$ , Data Set 1 (in m)	Perc. of Epochs, Data Set 2 (in %)	RMS of of ${\tilde{p}}_{e n}^{n}$ , Data Set 2 (in m)
1	36	$[1.0; 0.9; 2.4]$	50	$[0.7; 0.9; 1.3]$
2	24	$[1.0; 1.1; 2.5]$	20	$[0.8; 0.9; 1.4]$
3	23	$[0.9; 2.1; 2.4]$	22	$[1.0; 1.1; 1.6]$
4	11	$[1.1; 4.5; 3.5]$	5	$[1.9; 1.5; 2.4]$
5	5	$[3.0; 6.8; 4.6]$	2	$[3.0; 1.9; 2.6]$
6	1	$[1.7; 6.7; 3.6]$	1	$[1.2; 2.2; 3.7]$
1–6	100	$[1.2; 2.6; 2.7]$	100	$[1.0; 1.0; 1.4]$