TABLE 1

Scenario 1 Results: RSS Error, GPS4 Exclusion Magnitude, Detection Rate, and Quantity of Augmented Sensors

4 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
EKF916.0 (76.53)1, 720.8---
ARMAS694.3 (76.52)684.344.530.01-
SOM16.78 (10.15)18.2541.510.993.00