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

Table 3

Positioning errors in RANSAC at reliable epochs: comparison of positioning without RAIM and with RANSAC.

	Mean abs. horizontal m	RMS horizontal m	Mean abs. vertical m	RMS vertical m	Reliable availability
No RAIM	26.85	37.55	44.73	65.50
RANSAC	16.59	27.53	31.84	55.08	~75%
Improvements	38.22%	26.70%	28.82%	15.91%