TABLE 4

Scenario 4 Results: RSS Error, GPS4 Exclusion Magnitude, Detection Rate, and Quantity of Augmented Sensors

7 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
EKF85.52 (20.5)113.4
ARMAS11.04 (10.08)2.5536.750.99
SOM11.04 (10.08)2.5536.750.990.00