TABLE 2
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