Table 2 Comparison of localization performance on the simulated dataset
From: Reliable urban vehicle localization under faulty satellite navigation signals
| Â | Â | Few faults | Many faults | ||
|---|---|---|---|---|---|
(5, 1) | (5, 2) | (7, 4) | (10, 6) | ||
KF-RAIM | RMSE(m) | 7.6 | 21.5 | 34.3 | 34.4 |
\(\%{>}15\) m | 5.9 | 68.7 | 87.4 | 91.1 | |
J-PF | RMSE(m) | \(\mathbf {4.8}\) | \(\mathbf {5.8}\) | 33.5 | 22.9 |
\(\%{>}15\) m | \(\mathbf {1.2}\) | \(\mathbf {3.1}\) | 94.2 | 85.4 | |
Ours | RMSE(m) | 11.0 | 12.4 | \(\mathbf {13.2}\) | \(\mathbf {12.4}\) |
\(\%{>}15\) m | 23.4 | 26.6 | \(\mathbf {33.1}\) | \(\mathbf {28.7}\) | |