Table 1 Experimental parameters for simulated scenario

# of satellites

5–10

GNSS ranging noise \(\sigma _{GNSS}\)

5–10 m

GNSS ranging bias error magnitude

50–200 m

Maximum # of faulty measurements

1–6

GNSS fault change probability

0.2

Vehicle speed

10 m/s

Odometry noise \(\sigma ^{\nu }\)

5 m/s

# of particles

500

Filter initialization \(\sigma _{\text {init}}\)

5 m

Filter measurement model noise \(\{\sigma ^k\}_{k=1}^K\)

5 m

Filter propagation model noise \(\sigma _{\text {f}}\)

5 m

Alarm limit AL

15–20 m