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

Table 2

Positioning errors in observation subset testing at reliable epochs: comparison of positioning without RAIM and with observation subset testing.

	Mean abs. horizontal m	RMS horizontal m	Mean abs. vertical m	RMS vertical m	Reliable availability
No RAIM	28.32	38.37	52.44	71.93
Subset	17.94	34.54	41.85	64.67	~88%
Improvements	36.67%	09.97%	20.20%	10.08%