Positioning performance and computational load (time) of the four methods
| All data | Loosely coupled EKF | Tightly coupled EKF | Loosely coupled FGO | Tightly coupled FGO |
|---|---|---|---|---|
| Mean error | 9.14 m | 8.03 m | 7.01 m | 3.64 m |
| Std | 7.60 m | 7.15 m | 6.41 m | 2.84 m |
| Used Time | 0.053 s | 0.071 s | 15.41 s | 75.30 s |