GPS/Reduced IMU with a Local Terrain Predictor in Land Vehicle Navigation

Table 2

Attitude and velocity error statistics of GPS/3A1G (Crista) without LTP.

Reduced IMU	RMS of attitude			RMS of velocity
	error (Deg.)			error (m/s)
	Pitch	Roll	Azimuth	East	North	Up
3A1G (Crista)	2.17	1.99	15.90	0.69	0.74	0.13