6 Trusted SVs, 1000 Trials | |||||
---|---|---|---|---|---|

Algorithm | Grand mean RSS error [m] (Median) | Standard deviation [m] | Mean GPS4 anomaly magnitude at exclusion [m] | Detection rate for 40-meter bias | Mean total added sensors |

EKF | 153.7 (25.11) | 213.6 | – | – | – |

ARMAS | 17.73 (12.94) | 9.00 | 38.44 | 0.85 | – |

SOM | 12.34 (11.76) | 3.97 | 38.44 | 1.00 | 1.00 |