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

<table class="table-group" id="tab5"><tr><td><table class="table"><tr><td class="thead-hr" colspan="6"><hr/></td></tr><tr class="thead"><td align="left"> </td><td align="center">Mean abs. horizontal <svg height="11.9171pt" id="M120" style="vertical-align:-2.2392pt" version="1.1" viewbox="-0.0498162 -9.6779 4.79128 11.9171" width="4.79128pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.0135,0,0,-0.0135,0,0)"><path d="M290 -163V-135C183 -126 181 -122 181 -44V583C181 662 184 666 290 675V703H120V-163H290Z" id="g113-92"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="345" vert-adv-y="345"></glyph.data></g></svg>m<svg height="11.9171pt" id="M121" style="vertical-align:-2.2392pt" version="1.1" viewbox="-0.0498162 -9.6779 4.79128 11.9171" width="4.79128pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.0135,0,0,-0.0135,0,0)"><path d="M226 -163V703H56V676C162 667 165 662 165 584V-43C165 -122 162 -126 56 -136V-163H226Z" id="g113-94"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="345" vert-adv-y="345"></glyph.data></g></svg></td><td align="center">RMS horizontal <svg height="11.9171pt" id="M122" style="vertical-align:-2.2392pt" version="1.1" viewbox="-0.0498162 -9.6779 4.79128 11.9171" width="4.79128pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.0135,0,0,-0.0135,0,0)"><path d="M290 -163V-135C183 -126 181 -122 181 -44V583C181 662 184 666 290 675V703H120V-163H290Z" id="g113-92"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="345" vert-adv-y="345"></glyph.data></g></svg>m<svg height="11.9171pt" id="M123" style="vertical-align:-2.2392pt" version="1.1" viewbox="-0.0498162 -9.6779 4.79128 11.9171" width="4.79128pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.0135,0,0,-0.0135,0,0)"><path d="M226 -163V703H56V676C162 667 165 662 165 584V-43C165 -122 162 -126 56 -136V-163H226Z" id="g113-94"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="345" vert-adv-y="345"></glyph.data></g></svg></td><td align="center">Mean abs. vertical <svg height="11.9171pt" id="M124" style="vertical-align:-2.2392pt" version="1.1" viewbox="-0.0498162 -9.6779 4.79128 11.9171" width="4.79128pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.0135,0,0,-0.0135,0,0)"><path d="M290 -163V-135C183 -126 181 -122 181 -44V583C181 662 184 666 290 675V703H120V-163H290Z" id="g113-92"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="345" vert-adv-y="345"></glyph.data></g></svg>m<svg height="11.9171pt" id="M125" style="vertical-align:-2.2392pt" version="1.1" viewbox="-0.0498162 -9.6779 4.79128 11.9171" width="4.79128pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.0135,0,0,-0.0135,0,0)"><path d="M226 -163V703H56V676C162 667 165 662 165 584V-43C165 -122 162 -126 56 -136V-163H226Z" id="g113-94"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="345" vert-adv-y="345"></glyph.data></g></svg></td><td align="center">RMS vertical <svg height="11.9171pt" id="M126" style="vertical-align:-2.2392pt" version="1.1" viewbox="-0.0498162 -9.6779 4.79128 11.9171" width="4.79128pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.0135,0,0,-0.0135,0,0)"><path d="M290 -163V-135C183 -126 181 -122 181 -44V583C181 662 184 666 290 675V703H120V-163H290Z" id="g113-92"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="345" vert-adv-y="345"></glyph.data></g></svg>m<svg height="11.9171pt" id="M127" style="vertical-align:-2.2392pt" version="1.1" viewbox="-0.0498162 -9.6779 4.79128 11.9171" width="4.79128pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.0135,0,0,-0.0135,0,0)"><path d="M226 -163V703H56V676C162 667 165 662 165 584V-43C165 -122 162 -126 56 -136V-163H226Z" id="g113-94"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="345" vert-adv-y="345"></glyph.data></g></svg></td><td align="center">Reliable availability</td></tr><tr><td class="thead-hr" colspan="6"><hr/></td></tr><tr><td align="left">RANSAC</td><td align="center">14.99</td><td align="center">25.79</td><td align="center">29.01</td><td align="center">52.22</td><td align="center" rowspan="2">
                ~65%</td></tr><tr><td align="left">P-RANSAC</td><td align="center">15.05</td><td align="center">25.82</td><td align="center">28.64</td><td align="center">52.00</td></tr><tr class="table-tr"><td colspan="6"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

Positioning errors in RANSAC and P-RANSAC at common reliable epochs.

International Journal of Navigation and Observation

tab5

Table 5

Table 5: P-RANSAC: An Integrity Monitoring Approach for GNSS Signal Degraded Scenario 