Horizontal Radial Position RMS Errors (in Meters) for Different Algorithms in Canary Wharf
| Single-epoch | Conventional Filtering | 3DMA Filtering | ||||
|---|---|---|---|---|---|---|
| Epoch range | Conventional | 3DMA | EKF | PF | PF | GF |
| 1–200(0) | 21.52 | 19.89 | 5.87 | 8.38 | 9.16 | 7.97 |
| 201–400(0) | 40.01 | 36.36 | 45.60 | 56.74 | 11.64 | 10.61 |
| 401–600(139) | 66.83 | 26.58 | 29.80 | 16.91 | 16.27 | 15.74 |
| 601–800 (27) | 14.86 | 18.34 | 26.93 | 19.22 | 15.60 | 16.88 |
| 801–1,000(144) | 66.27 | 49.62 | 13.51 | 17.50 | 8.48 | 7.63 |
| 1,001–1,200(124) | 84.52 | 68.28 | 39.95 | 33.60 | 9.35 | 8.59 |
| 1,201–1,400 (27) | 12.48 | 15.14 | 24.20 | 18.08 | 13.29 | 13.84 |
| 1,401–1,602 (0) | 4.79 | 5.71 | 5.77 | 7.68 | 4.72 | 4.43 |
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.