Table 6 The RMSE of position within the fault period
From: Multi-level autonomous integrity monitoring method for multi-source PNT resilient fusion navigation
Case | RMSE without SFDI in different direction (m) | RMSE with SFDI in different direction m) | ||||||
|---|---|---|---|---|---|---|---|---|
North | East | UP | ALL | North | East | UP | ALL | |
1 | 0.46 | 0.15 | 0.79 | 0.93 | 0.13 | 0.12 | 0.78 | 0.82 |
2 | 0.21 | 0.28 | 0.47 | 0.58 | 0.32 | 0.11 | 0.31 | 0.46 |
3 | 0.28 | 0.14 | 0.66 | 0.73 | 0.25 | 0.12 | 0.56 | 0.62 |
4 | 0.65 | 0.15 | 0.71 | 0.97 | 0.53 | 0.14 | 0.57 | 0.79 |