Evaluation of the performance of GNSS-based velocity estimation algorithms

Satellite Navigation

Table 1 Comparisons of velocity accuracies in a static test

Algorithms	Constellations	RMSE in three dimensions (m/s)			MAX in three dimensions (m/s)
Algorithms	Constellations	E direction	N direction	U direction	E direction	N direction	U direction
RD	BDS	0.016	0.011	0.031	0.050	0.033	0.097
	GPS	0.026	0.021	0.049	0.081	0.066	0.156
	GPS/BDS	0.016	0.015	0.035	0.049	0.046	0.115
TDPR	BDS	0.028	0.025	0.066	0.087	0.079	0.203
	GPS	0.037	0.030	0.070	0.114	0.093	0.221
	GPS/BDS	0.023	0.022	0.052	0.074	0.069	0.166
TDCP	BDS	0.015	0.010	0.029	0.046	0.031	0.085
	GPS	0.025	0.020	0.047	0.085	0.068	0.165
	GPS/BDS	0.015	0.014	0.033	0.049	0.049	0.119
DDCP	BDS	0.015	0.016	0.039	0.048	0.051	0.119
	GPS	0.026	0.022	0.052	0.085	0.079	0.180
	GPS/BDS	0.016	0.016	0.036	0.053	0.052	0.119