From: Robust all-source positioning of UAVs based on belief propagation
 | 0 | 1 | 2 | 3 | 4 | 5 |
---|---|---|---|---|---|---|
Satellite | Â | Â | Â | Â | Â | Â |
 x[s] | 26,559,995 | -13,815.86 | -26,559,995 | 13,815.86 | 13,278,763 | N/A |
 y[s] | 1,425.03 | 15,232,692 | 1,425.03 | 15,232,692 | 23,002,343 | N/A |
 z[s] | 15,867.57 | 21,757,722 | 15,867.57 | 21,757,722 | 15,867.57 | N/A |
User | Â | Â | Â | Â | Â | Â |
 E[d] | 19,900 | -600 | 20,500 | 20,500 | 19,800 | 19,900 |
 N[d] | 19,200 | 20,100 | 20,020 | 20,500 | 19,800 | 19,900 |
 U[d] | 2,000 | 1,020 | 1,050 | 1,100 | 900 | 1,200 |