TABLE B5

Maximum Horizontal Radial Position Error (in Meters) for Different Algorithms in Canary Wharf, 90% of Confidence

Single-epochConventional Filtering3DMA Filtering
Epoch rangeConventional3DMAEKFPFPFGF
1–200 (0)22.2622.859.4713.9913.4912.09
201–400(0)76.7751.5882.27104.0314.1713.66
401–600(139)147.5455.2753.4627.6022.6719.05
601–800 (27)20.7124.0158.4617.1324.2424.36
801–1,000(144)74.8229.4924.2331.4412.9911.41
1,001–1,200(124)151.1879.4582.9764.0415.0514.56
1,201–1,400 (27)21.1712.4655.7622.579.0412.11
1,401–1,602 (0)5.908.5110.2312.826.817.00
  • Note: The numbers in brackets in the first column represent the counts of epochs where vehicles were located in the central area of Canary Wharf.