Evaluation of the performance of GNSS-based velocity estimation algorithms

Satellite Navigation

Table 2 A comparison of the obtained velocity accuracies in dynamic test 1

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	0.051	0.077	0.147	0.192	0.274	0.561
	GPS	0.057	0.064	0.134	0.220	0.256	0.585
	GPS/BDS	0.042	0.045	0.087	0.154	0.158	0.315
TDPR	BDS	0.173	0.341	0.857	1.280	2.789	7.125
	GPS	0.334	0.270	0.799	2.037	2.258	5.428
	GPS/BDS	0.235	0.203	0.513	1.386	1.294	2.825
TDCP	BDS	0.057	0.087	0.174	0.231	0.332	0.721
	GPS	0.058	0.064	0.136	0.247	0.269	0.637
	GPS/BDS	0.045	0.050	0.093	0.177	0.180	0.370
DDCP	BDS	0.062	0.092	0.187	0.258	0.363	0.814
	GPS	0.454	0.190	0.166	2.188	0.940	0.826
	GPS/BDS	0.055	0.063	0.115	0.221	0.241	0.485