Table 3.

Comparison results in bad GPS condition.

No.	Duration (s)	Methods	Distance (m)	RMSE (m)
Figure 17	264.796	GPS	1685.755	13.137
		GPS + IMU	1582.860	4.880
		GPS + IMU + CAN	1589.760	-
		Proposed method	1570.616	1.564
Figure 18	158.069	GPS	1066.827	73.160
		GPS+IMU	1045.851	1.765
		GPS+IMU+CAN	1044.588	-
		Proposed method	1038.825	1.229