## 5 Experiment Results
### Navigation Results in Tunnel
\begin{table}
\begin{tabular}{c c c c c c c c c c} \hline \hline
**Algorithm** & **Error** & \(\delta\)**\(\lambda\)** (m)** & \(\delta\)**\(L\)** (m)** & \(\delta\)**\(H\)** (m)** & \(\delta\)**\(V_{e}\)** (m/s)** & \(\delta\)**\(V_{u}\)** (m/s)** & \(\delta\)**\(V_{u}\)** (m/s)** & \(\phi_{x}\)** (deg)** & \(\phi_{y}\)** (deg)** & \(\phi_{z}\)** (deg)** \\ \hline \multirow{3}{*}{P-INS} & 100 s & \multirow{3}{*}{\(-227.7\)} & \multirow{3}{*}{\(-190.4\)} & \multirow{3}{*}{\(85.5\)} & \multirow{3}{*}{\(-4.208\)} & \multirow{3}{*}{\(-6.358\)} & \multirow{3}{*}{\(1.687\)} & \multirow{3}{*}{\(-0.647\)} & \multirow{3}{*}{\(-1.651\)} & \multirow{3}{*}{\(0.971\)} \\  & & & & & & & & & & \\ \cline{1-1} \cline{6-10}  & \multirow{3}{*}{\(89.95\)} & \multirow{3}{*}{\(84.22\)} & \multirow{3}{*}{\(37.1\)} & \multirow{3}{*}{\(1.781\)} & \multirow{3}{*}{\(2.916\)} & \multirow{3}{*}{\(0.947\)} & \multirow{3}{*}{\(0.313\)} & \multirow{3}{*}{\(0.857\)} & \multirow{3}{*}{\(0.516\)} \\ \cline{1-1} \cline{6-10}  & & & & & & & & & & \\ \hline \multirow{3}{*}{TMC-INS} & 100 s & \multirow{3}{*}{\(54.1\)} & \multirow{3}{*}{\(-60.1\)} & \multirow{3}{*}{\(-18.7\)} & \multirow{3}{*}{\(1.173\)} & \multirow{3}{*}{\(-1.783\)} & \multirow{3}{*}{\(-0.389\)} & \multirow{3}{*}{\(-0.203\)} & \multirow{3}{*}{\(0.355\)} & \multirow{3}{*}{\(-0.265\)} \\  & & & & & & & & & \\ \cline{1-1} \cline{6-10}  & \multirow{3}{*}{\(20.83\)} & \multirow{3}{*}{\(21.40\)} & \multirow{3}{*}{\(9.8\)} & \multirow{3}{*}{\(0.545\)} & \multirow{3}{*}{\(0.739\)} & \multirow{3}{*}{\(0.218\)} & \multirow{3}{*}{\(0.106\)} & \multirow{3}{*}{\(0.508\)} & \multirow{3}{*}{\(0.126\)} \\ \cline{1-1} \cline{6-10}  & & & & & & & & & \\ \hline \multirow{3}{*}{CIAMC-INS} & 100 s & \multirow{3}{*}{\(24.8\)} & \multirow{3}{*}{\(-30.2\)} & \multirow{3}{*}{\(-11.5\)} & \multirow{3}{*}{\(0.663\)} & \multirow{3}{*}{\(-0.419\)} & \multirow{3}{*}{\(-0.229\)} & \multirow{3}{*}{\(-0.076\)} & \multirow{3}{*}{\(-0.309\)} & \multirow{3}{*}{\(-0.132\)} \\  & & & & & & & & & \\ \cline{1-1} \cline{6-10}  & \multirow{3}{*}{\(11.12\)} & \multirow{3}{*}{\(12.44\)} & \multirow{3}{*}{\(5.1\)} & \multirow{3}{*}{\(0.308\)} & \multirow{3}{*}{\(0.230\)} & \multirow{3}{*}{\(0.128\)} & \multirow{3}{*}{\(0.042\)} & \multirow{3}{*}{\(0.180\)} & \multirow{3}{*}{\(0.063\)} \\ \cline{1-1} \cline{6-10}  & & & & & & & & & \\ \hline \multirow{3}{*}{MIMU/ODO/MC} & 100 s & \multirow{3}{*}{\(2.9\)} & \multirow{3}{*}{\(-2.1\)} & \multirow{3}{*}{\(-2.8\)} & \multirow{3}{*}{\(-0.044\)} & \multirow{3}{*}{\(-0.039\)} & \multirow{3}{*}{\(-0.075\)} & \multirow{3}{*}{\(-0.045\)} & \multirow{3}{*}{\(0.041\)} & \multirow{3}{*}{\(-0.052\)} \\ \cline{1-1} \cline{6-10}  & & & & & & & & & \\ \cline{1-1} \cline{6-10}  & & & & & & & & & \\ \hline \hline \end{tabular}
\end{table} 
Table 3: Navigation errors of different algorithms at the reference point near the 9063 m tunnel exit. As shown in Figure 13 and Table 3, the 100 s attitude angle error of MIMU/ODO/MC was significantly less than those of P-INS, TMC-INS, and CIAMC-INS. TMC-INS, CIAMC-INS, and MIMU/ODO/MC could all suppress the attitude angle errors of P-INS. MIMU/ODO/MC had the lowest 100 s attitude angle error and RMSE. Compared with TMC-INS and CIAMC-INS, MIMU/ODO/MC suppressed the attitude angle errors of P-INS more effectively.