Naive | tactical | A | 0.53 | 129 | 0.49 | 115 | 0.52 | 44.2 | 0.5 | 22.2 | 0.51 | 4.63 |
B | 0.51 | 158 | 0.51 | 139 | 0.5 | 53.0 | 0.52 | 26.5 | 0.51 | 5.46 |
MEMS | A | 0.54 | 129 | 0.52 | 116 | 0.55 | 44.6 | 0.53 | 22.4 | 0.54 | 4.63 |
B | 0.55 | 158 | 0.54 | 140 | 0.55 | 53.1 | 0.53 | 26.7 | 0.54 | 5.43 |
Odometry Only | tactical | A | 4.07 | 4.02 | 4.58 | 5.85 | 4.0 | 4.45 | 4.05 | 7.72 | 4.66 | 6.57 |
B | 7.97 | 10.7 | 7.81 | 13.2 | 13.3 | 11.8 | 9.52 | 14.0 | 9.28 | 8.47 |
MEMS | A | 20.6 | 30.5 | 21.6 | 40.2 | 22.7 | 27.0 | 18.9 | 32.2 | 15.3 | 29.0 |
B | 44.1 | 77.2 | 33.4 | 46.0 | 42.2 | 61.9 | 35.3 | 44.6 | 52.3 | 58.3 |
Authentic GPS Only | tactical | A | 0.53 | 4.42 | 0.49 | 2.92 | 0.52 | 3.16 | 0.5 | 2.63 | 0.51 | 4.32 |
B | 0.51 | 5.01 | 0.51 | 3.1 | 0.5 | 4.01 | 0.52 | 5.28 | 0.51 | 5.43 |
MEMS | A | 0.54 | 9.77 | 0.52 | 19.5 | 0.55 | 13.5 | 0.53 | 14.9 | 0.54 | 16.9 |
B | 0.55 | 14.9 | 0.54 | 18.2 | 0.55 | 19.0 | 0.53 | 18.5 | 0.54 | 18.3 |
Adaptive Meas. Cov. Estimation | tactical | A | 0.64 | 18.8 | 0.65 | 21.5 | 0.81 | 24.3 | 0.66 | 17.9 | 0.59 | 4.54 |
B | 0.88 | 30.8 | 0.75 | 28.9 | 0.77 | 26.2 | 0.61 | 20.9 | 0.53 | 5.36 |
MEMS | A | 0.57 | 18.3 | 0.8 | 20.3 | 0.63 | 28.0 | 0.56 | 19.4 | 0.63 | 4.54 |
B | 0.59 | 45.5 | 0.69 | 42.4 | 0.64 | 27.0 | 0.56 | 20.9 | 0.57 | 5.33 |
Chi-Squared Detector Switching (FAR: 3 · 10−3) | tactical | A | 0.53 | 5.98 | 1.29 | 4.36 | 0.52 | 7.82 | 0.5 | 9.74 | 0.74 | 4.59 |
B | 1.39 | 8.03 | 0.51 | 7.79 | 0.5 | 7.97 | 0.52 | 8.54 | 1.06 | 5.46 |
MEMS | A | 0.89 | 14.4 | 0.52 | 15.9 | 0.74 | 17.8 | 2.21 | 10.7 | 0.54 | 4.61 |
B | 0.55 | 19.3 | 0.54 | 20.6 | 0.55 | 9.94 | 0.53 | 11.5 | 0.54 | 5.43 |
Chi-Squared Detector Switching (FAR: 10−6) | tactical | A | 0.53 | 6.9 | 0.49 | 5.52 | 0.52 | 13.0 | 0.5 | 11.0 | 0.51 | 4.63 |
B | 0.51 | 10.7 | 0.51 | 9.9 | 0.5 | 11.1 | 0.52 | 12.0 | 0.51 | 5.46 |
MEMS | A | 0.54 | 17.3 | 0.52 | 14.7 | 0.55 | 18.7 | 0.53 | 11.2 | 0.54 | 4.63 |
B | 0.55 | 24.6 | 0.54 | 25.1 | 0.55 | 13.4 | 0.53 | 15.1 | 0.54 | 5.43 |
Kalman Gain scallng | tactical | A | 0.53 | 4.5 | 0.48 | 2.97 | 0.52 | 3.83 | 0.5 | 7.23 | 0.51 | 4.14 |
B | 0.5 | 4.9 | 0.5 | 4.48 | 0.49 | 5.35 | 0.52 | 5.6 | 0.52 | 4.99 |
MEMS | A | 0.55 | 9.33 | 0.52 | 11.7 | 0.56 | 8.75 | 0.53 | 10.3 | 0.53 | 4.24 |
B | 0.54 | 11.7 | 0.53 | 15.3 | 0.55 | 7.31 | 0.53 | 7.8 | 0.54 | 5.21 |
Spoofing-Resilient (Huber) | tactical | A | 0.53 | 103 | 0.49 | 92.9 | 0.52 | 38.8 | 0.5 | 21.0 | 0.5 | 4.59 |
B | 0.51 | 129 | 0.51 | 114 | 0.49 | 47.1 | 0.52 | 25.3 | 0.51 | 5.42 |
MEMS | A | 0.54 | 109 | 0.52 | 98.3 | 0.55 | 40.3 | 0.53 | 21.5 | 0.54 | 4.6 |
B | 0.55 | 132 | 0.53 | 117 | 0.55 | 47.8 | 0.53 | 25.5 | 0.54 | 5.4 |
Spoofing-Resilient (Tukey) | tactical | A | 0.68 | 2.79 | 0.62 | 2.44 | 0.66 | 1.93 | 0.68 | 2.21 | 0.6 | 2.02 |
B | 0.63 | 2.93 | 0.6 | 2.67 | 0.65 | 3.56 | 0.68 | 2.56 | 0.66 | 2.08 |
MEMS | A | 0.71 | 7.84 | 0.68 | 13.1 | 0.71 | 4.22 | 0.65 | 5.06 | 0.65 | 2.65 |
B | 0.69 | 11.6 | 0.64 | 14.1 | 0.67 | 5.12 | 0.67 | 5.23 | 0.68 | 3.88 |
Spoofing-Resilient (Hampel) | tactical | A | 0.56 | 3.3 | 0.52 | 1.88 | 0.57 | 2.64 | 0.53 | 4.32 | 0.54 | 3.95 |
B | 0.53 | 3.28 | 0.54 | 3.52 | 0.52 | 4.01 | 0.55 | 3.96 | 0.54 | 4.95 |
MEMS | A | 0.58 | 8.0 | 0.57 | 11.4 | 0.58 | 5.94 | 0.57 | 8.11 | 0.57 | 4.17 |
B | 0.58 | 15.3 | 0.56 | 13.5 | 0.59 | 6.28 | 0.55 | 6.18 | 0.59 | 5.01 |