Horizontal Position Statistics of V4 for the PCRTK Method in Different Formations
| Formation | RMSE (m) | Mean error (m) | CEP95 (m) | Probability (error<1m) | Fixed rate |
|---|---|---|---|---|---|
| (a) | 1.53 | 0.50 | 1.91 | 92.36% | 84.31% |
| (b) | 0.58 | 0.13 | 0.46 | 97.11% | 94.72% |
| (c) | 0.74 | 0.23 | 0.70 | 95.87% | 90.44% |
| (d) | 0.65 | 0.18 | 0.62 | 96.18% | 91.60% |