TABLE 2

Positioning performance and computational load (time) of the four methods

All dataLoosely coupled EKFTightly coupled EKFLoosely coupled FGOTightly coupled FGO
Mean error9.14 m8.03 m7.01 m3.64 m
Std7.60 m7.15 m6.41 m2.84 m
Used Time0.053 s0.071 s15.41 s75.30 s