timeall time xhc yhc b k rmax deltap vmax vmax0 vtr vtrx vtry bias rmse 0 -24 51.30 -15.60 1.00 0.00 20000.00 549.65 18.00 13.26 4.74 -4.72 0.52 12 -12 49.40 -15.40 1.00 0.00 20000.00 364.01 15.43 10.79 4.64 -4.60 0.64 24 0 47.60 -15.10 1.00 0.00 20000.00 391.07 15.43 11.18 4.25 -4.23 0.39 36 12 46.00 -15.10 0.51 0.09 19866.25 1995.01 20.58 17.99 3.73 -3.73 -0.13 -0.13 0.68 48 24 44.60 -15.20 1.13 0.07 11860.61 1836.94 25.72 25.72 3.50 -3.48 -0.39 -0.16 0.97 60 36 43.20 -15.40 0.80 0.04 9279.59 3056.33 30.86 28.02 3.03 -2.98 -0.52 0.38 1.37 72 48 42.20 -15.60 1.06 0.09 9552.82 3795.70 38.58 35.91 2.86 -2.82 -0.48 0.31 2.22 96 72 39.60 -15.90 0.98 0.07 9307.17 3570.08 33.44 33.44 2.84 -2.83 -0.25 0.61 2.88 120 96 38.10 -16.10 0.51 0.09 11636.82 2377.50 20.58 19.72 1.09 -0.91 -0.59 -0.10 0.35 144 120 38.00 -17.10 0.51 0.09 11636.82 1145.16 15.43 13.69 1.74 0.23 -1.73