Evaluation Performance in Semi-Urban Environments: Average Positioning Errors (Mean±Standard Deviation) Along Different Axes and Total Distance in the ECEF Coordinate System for Different Methods with Corresponding Optimal Parameters
| SFO (Semi-urban) | MTV (Semi-urban) | |||||||
|---|---|---|---|---|---|---|---|---|
| X (m) | Y (m) | Z (m) | Total distance (m) | X (m) | Y (m) | Z (m) | Total distance (m) | |
| WLS | 2.28±1.45 | 2.34±1.68 | 1.85±1.51 | 4.17±2.19 | 1.61±1.48 | 1.98±2.11 | 1.76±2.18 | 3.48±2.99 |
| KF (baseline) | 2.21±1.13 | 2.61±1.18 | 1.61±1.09 | 4.21±1.48 | 0.92±0.79 | 1.26±1.18 | 0.90±0.91 | 2.12±1.10 |
| KF+Deep sets (Zaheer et al., 2017) | 2.10±1.53 | 2.52±1.70 | 1.57±1.27 | 4.03±1.97 | 1.00±0.82 | 1.27±1.18 | 0.90±0.89 | 2.14±1.31 |
| KF+Set-transformer (Kanhere et al., 2021) | 2.09±1.57 | 2.52±1.70 | 1.57±1.28 | 4.04±1.96 | 0.92±0.79 | 1.26±1.18 | 0.90±0.91 | 2.09±1.32 |
| KF+GCNN (Mohanty & Gao, 2022) | 2.07±1.50 | 2.50±1.74 | 1.56±1.23 | 3.99±1.95 | 1.17±0.91 | 1.53±1.33 | 1.39±1.04 | 2.70±1.44 |
| KF+A3C (Zhang & Masoud, 2020) | 2.12±1.62 | 2.59±1.17 | 1.62±1.09 | 4.16±1.47 | 1.02±0.73 | 1.18±1.01 | 0.99±0.80 | 2.13±1.12 |
| KF+LSTMPPO (Zhao et al., 2023) | 2.09±1.14 | 2.43±1.17 | 1.57±1.08 | 3.96±1.45 | 0.95±0.72 | 1.06±0.96 | 0.87±0.78 | 1.91±1.10 |
| KF+LSTMPPO-ARAM | 2.08±1.19 | 2.12±1.24 | 1.61±1.13 | 3.77±1.53 | 0.86±0.71 | 1.07±0.95 | 0.91±0.79 | 1.87±1.03 |