TABLE 1

Position and Heading Errors of the Three Offline-Evaluated Filters for all Presented Experiments

2D-error (m)Heading error (°)
FilterEmbedded ImageσEmbedded ImageP99Embedded ImageσEmbedded ImageP99
Normal environmental conditions
Basic UKF0.220.090.210.431.170.880.665.53
Correvit UKF0.220.090.210.430.740.840.575.53
Correvit + MAE UKF0.220.090.210.430.830.890.665.53
Simulated GNSS cutoff
Basic UKF37.8656.880.79192.881.81.041.665.53
Correvit UKF0.260.080.250.460.891.070.525.53
Correvit + MAE UKF0.230.110.220.440.961.110.575.53
Open-pit mine
Basic UKF85.37145.350.37555.670.920.890.693.64
Correvit UKF0.240.160.180.60.770.720.563.76
Correvit + MAE UKF0.240.140.170.520.860.880.554.11