TABLE 1

Experimental parameters for validation with real-world and emulated data sets

ParameterValueParameterValue
No. of GNSS measurements12Added Gaussian bias to GNSS measurements20–200 m
No. of faults in GNSS measurements2–9No. of particles120
Measurement noise variance10 m 2Filter propagation variance3 m 2
Alert Limit8, 16 mNo. of odometry perturbations10