TABLE 4

Simulation Scenarios and Corresponding Figures Showing the Navigation Performance Results

Figure	Speed	Sensors	INS	Position reference density
3	stop	GNSS	-	-
13	stop	INS, GNSS	STIM300	-
14	nonstop	INS, GNSS	STIM300	-
15	stop	INS, ZUPT, GNSS	STIM300	-
16	stop	INS, ZUPT, GNSS, WSS, NHL, HL	STIM300	-
17	stop	INS, ZUPT, GNSS, WSS, NHL, HL	Ellipse2	-
18	stop	INS, ZUPT, lidar, GNSS, WSS, NHL, HL	STIM300	Traffic light poles
19	stop	INS, ZUPT, lidar, GNSS, WSS, NHL, HL	STIM300	Every 35 m
20	stop	INS, ZUPT, lidar, GNSS, WSS, NHL, HL	STIM300	Every 15 m