Positioning Performance of the Five Methods Evaluated in Urban Canyon 2
| All Data | RTK | RTK-NE | RTK-NE-VINS | RTK-IG | RTK-NE-IG |
|---|---|---|---|---|---|
| 2D MEAN | 2.68 | 2.37 | 2.31 | 1.77 | 1.37 |
| 2D STD | 2.23 | 1.69 | 1.86 | 1.15 | 0.72 |
| 2D Max | 11.38 | 8.73 | 12.24 | 5.50 | 5.83 |
| 2D Impr. | 11.56% | 13.81% | 33.95% | 48.90% | |
| 3D MEAN | 6.94 | 5.70 | 4.89 | 2.74 | 2.64 |
| 3D STD | 7.32 | 3.99 | 2.83 | 0.96 | 1.24 |
| 3D Max | 34.89 | 30.68 | 14.56 | 5.88 | 6.89 |
| 3D Impr. | 11.57% | 29.53% | 60.51% | 61.95% | |
| Fixed Rate | 0% | 0% | 0% | 0.72% | 5.19% |
| Avail. | 99.05% | 71.5% | 100% | 100% | 100% |
| Time Consu. (ms) | 4.9 | 4.9 | 49.2 | 66.2 | 65.1 |
Note: Improvement is calculated with respect to the RTK method; (2D/3D, horizontal/3D positioning; Time Consu., the average time consumption of the method.