Table 2.

The RMSE in different slopes with POILC and without POILC, where $y^0$ and $y^{20}$ are the tracking results with and without POILC, respectively.

Terrain	${\mathit{y}}^0$	${\mathit{y}}^{20}$	Reduction
$-{10}^{\circ }downhill$	13.55	6.61	51.22%
flat	37.20	19.92	46.45%
${10}^{\circ }uphill$	37.61	25.20	33.00%