Table 3
Root mean square phase tracking error considering real scintillation data at different GPS frequency bands for the moderate scintillation events #1 (t = 500–1000s) and #4 (t = 1300–1800s)
| Event #1 | RMSEt(L1) | RMSEt(L2) | RMSEt(L5) |
|---|---|---|---|
| PLL | 0.0886 | 0.1304 | 0.1490 |
| KF | 0.0915 | 0.1588 | 0.1719 |
| AKF | 0.0899 | 0.1521 | 0.1632 |
| AKF-AR | 0.0684 | 0.1029 | 0.1504 |
| AEKF-AR | 0.0466 | 0.0865 | 0.7530 |
| MAR-EKF | 0.0400 | 0.0301 | 0.0255 |
| Event #4 | RMSEt(L1) | RMSEt(L2) | RMSEt(L5) |
|---|---|---|---|
| PLL | 0.0988 | 0.1267 | 0.1299 |
| KF | 0.0956 | 0.1418 | 0.1450 |
| AKF | 0.0944 | 0.1396 | 0.1448 |
| AKF-AR | 0.1002 | 0.1480 | 0.1500 |
| AEKF-AR | 0.0156 | 0.0228 | 0.0247 |
| MAR-EKF | 0.0153 | 0.0127 | 0.0129 |
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