Navigation Results (24 Monte-Carlo Runs) When Cycle Slips are Added to the Simulator

The filter crashed because of the ill-matrix condition when our outlier detector was not incorporated in the filter. In contrast, our proposed cycle slip detector avoided this degradation by successfully removing outliers. The percentage of corrupted measurements in any Monte-Carlo run denotes the percentage of measurements among the total that are induced with cycle slips.

% of Corrupted MeasurementsOutlier DetectionPosition and Clock Bias Error (m)Velocity and Clock Drift Error [mm/s]
68%95%99.7%Below Req.68%95%99.7%Below Req.
0%not used5.8110.0614.099.5%1.603.175.3750.0%
30%not usedDivergedDiverged