Deep Learning-Based GNSS Network-Based Real-Time Kinematic Improvement for Autonomous Ground Vehicle Navigation

Table 3

The statistics of horizontal positioning accuracy of the LSTM model with/without bias handling.

	Abs. solution	With bias		Bias removed
		Extrapol.	Interpol.	Extrapol.	Interpol.
Mean (m)	3.33	2.22	2.22	0.37	0.37
Std. dev. (m)	1.91	0.60	0.57	0.25	0.27
RMSE (m)	3.83	2.30	2.29	0.45	0.46