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

Table 3

Attitude and velocity error statistics of GPS/2A1G with LTP.

Reduced IMU	RMS of attitude			RMS of velocity
	error (Deg.)			error (m/s)
	Pitch	Roll	Azimuth	East	North	Up
2A1G (HG1700)	0.57	0.59	1.35	0.08	0.08	0.09
2A1G (Crista)	0.71	0.70	2.38	0.08	0.08	0.09