TABLE 4

Horizontal RMS with Different Sensor Fusion Combinations for Elapsed Times Between 5 and 7 min (Underpass A)

Sensor combinationsDF-PPPDF-PPP/IMU (Mi 8)DF-PPP/IMU (Xsens)
68th percentile RMS (m)1.71.61.6
95th percentile RMS (m)2.52.32.2
100th percentile RMS (m)4.32.72.5