TABLE 5

Overview of Navigation System Performance

Maximum allowable position error standard deviation: 0.1 m
Navigation System	Travel Distance (m)		Availability Fraction (%)
Navigation System	along-track	cross-track	along-track	cross-track
stop / GNSS	1920	1920	21	21
stop / INS, GNSS / STIM300	3420	3400	38	38
nonstop / INS, GNSS / STIM300	3420	3420	49	49
stop / INS, ZUPT, GNSS / STIM300	3420	3400	49	49
stop / INS, ZUPT, GNSS, WSS, NHL, HL / STIM300	4500	5360	50	61
stop / INS, ZUPT, GNSS, WSS, NHL, HL / Ellipse2	4520	5340	50	61
stop / INS, ZUPT, lidar, GNSS, WSS, NHL, HL / STIM300 / traffic light poles	4650	8970	90	100
stop / INS, ZUPT, lidar, GNSS, WSS, NHL, HL / STIM300 / every 35 m	8970	8970	100	100
stop / INS, ZUPT, lidar, GNSS, WSS, NHL, HL / STIM300 / every 15 m	8970	8970	100	100
Maximum allowable position error standard deviation: 0.05 m
	Travel Distance (m)		Availability Fraction (%)
Navigation System	along-track	cross-track	along-track	cross-track
stop / GNSS	1920	1920	21	21
stop / INS, GNSS / STIM300	3360	2140	37	37
nonstop / INS, GNSS / STIM300	3370	3370	38	38
stop / INS, ZUPT, GNSS / STIM300	3370	2140	38	37
stop / INS, ZUPT, GNSS, WSS, NHL, HL / STIM300	3390	4560	38	51
stop / INS, ZUPT, GNSS, WSS, NHL, HL / Ellipse2	3400	4550	38	51
stop / INS, ZUPT, lidar, GNSS, WSS, NHL, HL / STIM300 / traffic light poles	3400	8460	71	94
stop / INS, ZUPT, lidar, GNSS, WSS, NHL, HL / STIM300 / every 35 m	3460	8970	94	100
stop / INS, ZUPT, lidar, GNSS, WSS, NHL, HL / STIM300 / every 15 m	8970	8970	100	100