Scenario 1 Results: RSS Error, GPS4 Exclusion Magnitude, Detection Rate, and Quantity of Augmented Sensors
| 4 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 | 916.0 (76.53) | 1, 720.8 | - | - | - |
| ARMAS | 694.3 (76.52) | 684.3 | 44.53 | 0.01 | - |
| SOM | 16.78 (10.15) | 18.25 | 41.51 | 0.99 | 3.00 |