A Novel Probabilistic Approach for Vehicle Position Prediction in Free, Partial, and Full GPS Outages

<div>Highlighting the position prediction errors in different partial outages distributed on the latitude and longitude under the adopted methods: red for B-SRGP (gn), magenta for B-SRGP (non-gn), blue for KF, and green for MARS.</div>

Mathematical Problems in Engineering

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Figure 5

Figure 5: A Novel Probabilistic Approach for Vehicle Position Prediction in Free, Partial, and Full GPS Outages 