P-RANSAC: An Integrity Monitoring Approach for GNSS Signal Degraded Scenario

Table 1

Positioning errors: comparison of positioning without RAIM and with RANSAC, P-RANSAC, and observation subset testing.

	Mean abs. horizontal m	RMS horizontal m	Mean abs. vertical m	RMS vertical m	Solution availability
No RAIM	28.35	38.93	53.36	74.11	100%
Subset	18.27	34.73	42.07	65.31
RANSAC	20.35	31.73	43.31	67.18
P-RANSAC	20.53	31.64	44.29	68.23