Positioning Performance of the Five Methods in Urban Canyon 1
| All Data | RTK | RTK-NE | RTK-NE-VINS | RTK-IG | RTK-NE-IG |
|---|---|---|---|---|---|
| 2D MEAN | 1.83 | 1.78 | 1.59 | 1.36 | 0.84 |
| 2D STD | 2.01 | 1.25 | 1.06 | 0.84 | 0.39 |
| 2D Max | 30.33 | 9.06 | 6.53 | 4.7 | 1.94 |
| 2D Impr. | 2.7% | 13.11% | 25.46% | 54.09% | |
| 3D MEAN | 4.26 | 5.12 | 4.21 | 2.44 | 2.27 |
| 3D STD | 6.27 | 3.76 | 2.15 | 0.81 | 0.85 |
| 3D Max | 37.62 | 25.56 | 9.85 | 4.8 | 3.68 |
| 3D Impr. | −20% | 1.17% | 42.72% | 46.70% | |
| Fixed Rate | 0% | 0% | 0% | 0.49% | 1.67% |
| Avail. | 99.1% | 72% | 100% | 100% | 100% |
| Time Consu. (ms) | 5.2 | 5.2 | 50.7 | 67.9 | 65.4 |
Note: Improvement (Impr.) was calculated based on the RTK method. 2D/3D, horizontal/3D positioning; STD, standard deviation; Avail., availability. Time Consu., the average time consumption of the method.