TABLE 1

Comparison among the maximum error values of the state vector estimated via three approaches: the proposed SR-DKF algorithm, point-valued adaptive DKF, and point-valued conventional DKF

State estimation approach		Rx : 1	Rx : 2	Rx : 3	Rx : 4	Rx : 5	Rx : 6	Rx : 7
Clock (μs)	Set-valued SR-DKF	0.40	0.30	0.29	0.35	0.42	0.32	0.27
	Point-valued adaptive DKF	13.77	0.35	2.47	0.40	69.24	0.35	0.38
	Point-valued conventional DKF	71.41	42.88	100.07	0.34	50.55	0.34	0.33
Clock drift (ns/s)	Set-valued SR-DKF	2.13	2.23	1.60	1.67	2.22	1.77	1.75
	Point-valued adaptive DKF	31.42	2.79	28.74	1.96	109.49	2.17	2.14
	Point-valued conventional DKF	134.99	82.07	163.40	1.74	51.70	1.78	1.99