Evaluation of the performance of GNSS-based velocity estimation algorithms

Satellite Navigation

Table 3 A comparison of the obtained velocity accuracies in dynamic test 2

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	0.081	0.085	0.184	0.442	0.476	1.319
	GPS	0.104	0.142	0.152	0.462	0.728	0.627
	GPS/BDS	0.055	0.065	0.106	0.211	0.238	0.446
TDPR	BDS	0.579	0.600	1.266	4.283	4.687	9.548
	GPS	0.780	1.177	1.473	5.000	7.498	8.764
	GPS/BDS	0.579	0.678	1.266	3.690	3.971	7.481
TDCP	BDS	0.107	0.108	0.238	0.686	0.796	1.657
	GPS	0.113	0.150	0.161	0.521	0.846	0.668
	GPS/BDS	0.070	0.074	0.120	0.269	0.292	0.535
DDCP	BDS	0.107	0.102	0.229	0.545	0.468	1.345
	GPS	0.185	0.121	0.136	1.121	0.558	0.559
	GPS/BDS	0.081	0.082	0.130	0.323	0.326	0.580