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

Table 4

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

	Mean abs. horizontal m	RMS horizontal m	Mean abs. vertical m	RMS vertical m	Reliable availability
No RAIM	26.01	37.09	41.04	61.76	~70%
P-RANSAC	15.26	25.86	28.57	51.61
Improvements	41.32%	30.28%	30.38%	16.43%