Positioning Statistics of RTK and PCRTK Methods for Experimental Data
| Method | Vehicle | Horizontal RMSE (m) | Vertical RMSE (m) | Horizontal CEP95 (m) | Proportion<1 m (Horizontal) | Fixed rate |
|---|---|---|---|---|---|---|
| RTK | 1 | 3.55 | 8.25 | 5.61 | 81.94% | 72.75% |
| 2 | 6.74 | 14.93 | 6.88 | 71.51% | 61.89% | |
| 3 | 6.45 | 13.46 | 6.69 | 72.15% | 63.43% | |
| 4 | 6.91 | 15.57 | 6.97 | 70.17% | 60.71% | |
| PCRTK | 1 | 1.20 | 2.10 | 2.20 | 86.52% | 73.14% |
| 2 | 2.14 | 2.36 | 3.31 | 79.45% | 62.12% | |
| 3 | 2.10 | 2.38 | 3.17 | 80.47% | 64.01% | |
| 4 | 2.37 | 2.41 | 3.44 | 78.14% | 60.77% |