Mean Absolute Error in Position Along Each Direction for Different Simulated Sensor Error Characteristics
| Scenario | North (m) | East (m) | Down (m) |
|---|---|---|---|
| Initialization | 7.5 ± 5.0 | 7.5 ± 5.0 | 7.5 ± 5.0 |
| Gaussian error | 2.6 ± 2.0 | 2.4 ± 1.8 | 2.2 ± 1.6 |
| Gaussian + bias error | 2.8 ± 2.1 | 2.6 ± 2.0 | 2.4 ± 1.8 |
Note: In both scenarios, our approach reduced the positioning error over the baseline with random initialization by more than half the value.