Fig. 7
From: Reliable urban vehicle localization under faulty satellite navigation signals
a Simulation experiment for analyzing integrity monitoring performance. The start and end of the 400-s-long trajectory are marked in green and red, respectively. Bias errors are induced in upto \(60\%\) of the total 10 simulated GNSS measurements between 125 and 175 s (yellow region). b Minimum attained probability of false alarm and integrity risk across different threshold values for our approach and Bayesian RAIMÂ [41] for different number of particles (100, 500) and alarm limit (15 m, 20 m). The different methods are denoted by the triplet (approach, alarm limit, particles). Probability of false alarm and integrity risk are estimated from more than \(10^4\) samples across multiple runs. Our approach exhibits lower false alarms and smaller integrity risk than Bayesian RAIM across all thresholds for each configuration of the number of particles and alarm limit