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

Table 2

MSP position errors average during full GPS outage and partial GPS outage [m].

	B-SRGP (non-gn)	MARS	KF	B-SRGP (gn)
Full GPS outage
Latitude	0.26	0.96	15.42	13.25
Longitude	0.68	4.78	21.64	21.90
Partial GPS outage
Latitude	0.07	3.35	5.0	2.05
Longitude	0.13	3.89	4.39	2.37