TABLE 2

Scenario 2 Results: RSS Error, GPS4 Exclusion Magnitude, Detection Rate, and Quantity of Augmented Sensors

5 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
EKF283.5 (36.42)411.3
ARMAS39.07 (22.44)34.2240.360.58-
SOM12.14 (9.48)7.2537.931.002.00