Table 4. Root mean square errors according to coupled methods

	Tightly-coupled	Loosely-coupled
Attitude (deg)	1.8495e-3	0.0185
	3.7954e-4	0.0031
	9.2055e-4	0.0077
Position (deg)	2.9402e-4	0.0012
	2.0972e-3	0.0203
Altitude (m)	5.7835	5.9802
Velocity (m/s)	0.1812	0.3516
	1.2345	6.8257
	0.1022	0.1075