Nonlinear Bayesian Tracking Loops for Multipath Mitigation

Table 2

Comparison of pseudorange error metrics in meters.

	DLL/PLL	MEPF (no. 1)	MEPF (no. 2)	MEPF (no. 3)
Bias (m)	10.66	3.97	5.48	1.24
std dev (m)	13.23	6.42	8.75	4.05
RMSE (m)	17.00	7.55	10.33	4.24