Scenario 2 Results: RSS Error, GPS4 Exclusion Magnitude, Detection Rate, and Quantity of Augmented Sensors
| 5 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 | 283.5 (36.42) | 411.3 | – | – | – |
| ARMAS | 39.07 (22.44) | 34.22 | 40.36 | 0.58 | - |
| SOM | 12.14 (9.48) | 7.25 | 37.93 | 1.00 | 2.00 |