Table 2.
Position RMSE for different navigation solution methods using federated fusion technique.
| Navigation Solution | RMSE (m) |
|---|---|
| INS stand-alone | 1980 |
| INS/NHC | 14.30 |
| INS/velocity update | 7.94 |
| INS/velocity/NHC | 6.07 |
| INS/velocity/heading change | 6.74 |
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