Horizontal Radial Position RMS Errors (in Meters) for Different Algorithms in City of London
| Single-epoch | Conventional Filtering | 3DMA Filtering | ||||
|---|---|---|---|---|---|---|
| Experiment ID | Conventional | 3DMA | EKF | PF | PF | GF |
| C1_W | 8.13 | 7.60 | 4.42 | 7.30 | 6.37 | 7.82 |
| C1_E | 5.37 | 2.70 | 3.62 | 5.26 | 2.05 | 1.72 |
| C2_W | 13.47 | 14.38 | 7.21 | 10.71 | 10.50 | 7.86 |
| C2_E | 10.07 | 11.91 | 9.76 | 9.64 | 10.05 | 6.98 |
| C3 | 13.69 | 2.74 | 2.97 | 7.37 | 4.54 | 4.15 |
| C4 | 5.36 | 2.43 | 5.33 | 5.54 | 2.41 | 1.76 |
| C5 | 6.13 | 4.28 | 5.04 | 5.91 | 4.33 | 3.09 |
| C6 | 2.91 | 3.41 | 2.19 | 2.46 | 2.43 | 1.52 |
| C7 | 6.10 | 4.74 | 3.37 | 5.30 | 1.77 | 2.05 |
| C8 | 16.25 | 21.67 | 14.40 | 18.39 | 14.56 | 7.97 |
| C9_W | 14.07 | 4.87 | 12.14 | 14.53 | 5.86 | 8.45 |
| C9_E | 12.86 | 8.53 | 9.25 | 8.58 | 4.14 | 3.23 |
| C10_W | 11.23 | 5.79 | 12.63 | 10.37 | 3.87 | 2.64 |
| C10_E | 17.56 | 12.88 | 14.02 | 16.66 | 15.98 | 9.53 |
| C11 | 12.89 | 1.82 | 6.93 | 9.96 | 2.78 | 3.46 |
| C12_N | 9.15 | 5.16 | 7.14 | 9.28 | 6.89 | 6.12 |
| C12_S | 9.32 | 3.92 | 5.76 | 10.01 | 3.83 | 4.35 |
| C13_N | 12.37 | 28.15 | 8.24 | 10.13 | 38.84 | 42.83 |
| C13_S | 23.88 | 10.14 | 27.32 | 22.85 | 15.03 | 16.15 |
| C14_W | 15.75 | 5.51 | 7.90 | 20.01 | 7.70 | 10.37 |
| C14_E | 13.33 | 6.72 | 6.26 | 12.40 | 6.68 | 6.69 |
| C15_W | 13.75 | 18.80 | 12.58 | 12.50 | 12.66 | 14.63 |
| C15_E | 32.68 | 21.31 | 28.77 | 23.91 | 11.99 | 11.12 |