Estimator Ambiguity Resolution and Positioning Performance on the Combined TEX-CUP May 9 and May 12 Data Sets With Various Estimator Features Disabled
| Configuration | Industrial-grade IMU | Consumer-grade IMU | |||||||
|---|---|---|---|---|---|---|---|---|---|
| Pv (%) | Pf (%) | d95 (cm) | RMSE (cm) | Pv (%) | Pf (%) | d95 (cm) | RMSE (cm) | ||
| 1 | Baseline (all features enabled) | 97.52 | 0.33 | 13.0 | 17.5 | 96.62 | 0.38 | 16.2 | 24.8 |
| 2 | Single vehicle antenna | 96.89 | 0.55 | 16.2 | 25.3 | 95.73 | 0.53 | 19.3 | 30.6 |
| 3 | Sans non-holonomic constraints | 97.48 | 0.33 | 13.2 | 18.3 | 94.86 | 0.60 | 26.1 | 116.0 |
| 4 | Sans zero-velocity updates | 97.39 | 0.34 | 13.8 | 38.2 | 96.39 | 0.40 | 16.9 | 27.1 |
| 5 | Sans pseudorange outlier exclusion (§4.3) | 93.09 | 0.48 | 19.1 | 45.5 | 87.73 | 1.25 | 241.8 | 133.6 |
| 6 | Sans re-seed (§4.4.5) | 97.00 | 0.91 | 15.0 | 36.8 | 96.58 | 0.46 | 16.5 | 34.2 |
| 7 | Sans false-fix detection & recovery (§4.4) | 99.00 | 24.28 | 590.8 | 194.7 | 97.27 | 10.03 | 121.6 | 46.2 |
| 8 | Single frequency 97.65 (L1 only) | 97.65 | 0.96 | 14.7 | 24.2 | 90.35 | 0.38 | 138.9 | 87.1 |
| 9 | Sans SBAS | 95.73 | 0.55 | 17.1 | 25.6 | 88.86 | 0.86 | 191.2 | 80.3 |
| 10 | EKF CDGNSS Update (linearizeEkf) | 97.52 | 0.33 | 13.0 | 17.5 | 96.62 | 0.38 | 16.2 | 24.8 |