Fig. 3

Real-world dataset for validation of our approach. We use Frankfurt Westend-Tower sequence from smartLoc project dataset collected by TU Chemnitz [43]. The trajectory followed by the vehicle is shown in (a). The vehicle moves from the start point (green) to end point (red) along the trajectory (cyan) in the direction specified by red arrows. (b) The residuals of the pseudorange measurements with respect to ground-truth position spread across 2 min (receiver clock drift errors removed via filtering). Multiple measurements demonstrate bias errors due to multipath and non-line-of-sight effects in the urban environment