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 Measurements | Outlier Detection | Position 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 used | 5.81 | 10.06 | 14.0 | 99.5% | 1.60 | 3.17 | 5.37 | 50.0% |
| 30% | not used | Diverged | Diverged | ||||||
| 30% | used | 7.09 | 12.35 | 18.47 | 96.2% | 2.50 | 5.00 | 9.09 | 25.6% |