Evaluation Performance in 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
| MTV (Urban) | LAX (Urban) | |||||||
|---|---|---|---|---|---|---|---|---|
| X (m) | Y (m) | Z (m) | Total distance (m) | X (m) | Y (m) | Z (m) | Total distance (m) | |
| WLS | 2.28±2.03 | 3.51±2.56 | 2.65±2.45 | 5.61±3.22 | 2.72±1.91 | 3.83±2.66 | 3.76±2.31 | 6.73±2.77 |
| KF (baseline) | 1.25±0.94 | 2.45±1.07 | 1.26±0.77 | 3.40±1.12 | 2.29±1.37 | 3.25±1.86 | 3.20±1.49 | 5.63±1.73 |
| KF+Deep sets (Zaheer et al., 2017) | 1.36±0.98 | 2.06±1.36 | 1.74±1.42 | 3.34±1.68 | 2.50±1.79 | 2.75±1.95 | 2.96±1.83 | 5.40±1.97 |
| KF+Set-transformer (Kanhere et al., 2021) | 1.17±0.99 | 1.93±1.70 | 1.94±1.44 | 3.33±1.94 | 3.19±2.36 | 2.57±2.05 | 2.75±2.46 | 5.81±2.53 |
| KF+GCNN (Mohanty & Gao, 2022) | 1.16±0.89 | 2.19±1.20 | 1.23±0.99 | 3.09±1.16 | 2.44±1.85 | 2.79±1.83 | 2.75±2.07 | 5.29±2.09 |
| KF+A3C (Zhang & Masoud, 2020) | 1.26±0.95 | 2.03±1.09 | 1.46±0.73 | 3.14±0.97 | 2.44±1.72 | 2.85±1.69 | 3.10±1.72 | 5.39±1.84 |
| KF+LSTMPPO (Zhao et al., 2023) | 1.30±1.33 | 2.07±1.10 | 1.34±0.73 | 3.13±1.01 | 2.45±1.73 | 2.70±1.65 | 3.03±1.69 | 5.26±1.79 |
| KF+LSTMPPO-ARAM | 1.25±0.90 | 2.06±1.14 | 1.36±0.78 | 3.09±1.03 | 2.38±1.59 | 2.67±1.64 | 2.96±1.78 | 5.11±1.73 |