Comparison of Errors/Time in the Initialization of the Extrinsic Parameters
| Items | Weighted Least Squares-based | Doppler/Carrier Smoothing |
|---|---|---|
| Yaw (degree) | 15.70 | 5.93 |
| East (meter) | 1.05 | 0.92 |
| North (meter) | 0.86 | 0.80 |
| Up (meter) | 0.73 | 0.70 |
| Ave. Time (milliseconds) | 3097 | 4129 |
Note: Data for the ENU and local world frames were obtained using different methods.