Experimental Evaluation of Cooperative Relative Positioning for Intelligent Transportation System

Table 3

RMS errors of horizontal, relative positioning errors by different schemes (unit: m).

	Scen. 1	Scen. 2	Scen. 3	Scen. 4
-receiver	53.03	32.96	35.59	29.33
CommSat	157.63	29.34	18.71	14.81
KF + CommSat	49.03	17.61	12.19	9.57
CoRelPos	22.76	6.44	5.44	5.42
CoRelPos+	7.63	6.40	1.54	3.48