TABLE 3

Scenario 3 Results: RSS Error, GPS4 Exclusion Magnitude, Detection Rate, and Quantity of Augmented Sensors

6 Trusted SVs, 1000 Trials
AlgorithmGrand mean RSS error [m] (Median)Standard deviation [m]Mean GPS4 anomaly magnitude at exclusion [m]Detection rate for 40-meter biasMean total added sensors
EKF153.7 (25.11)213.6
ARMAS17.73 (12.94)9.0038.440.85
SOM12.34 (11.76)3.9738.441.001.00