Table 4
Root mean square phase tracking error considering real scintillation data at different GPS frequency bands for the strong scintillation events #3 (t = 2000–2500s), #4 (t = 2000–2500s) and #6 (t = 1700–2200s).
| Event #3 | RMSEt(L1) | RMSEt(L2) | RMSEt(L5) |
|---|---|---|---|
| PLL | 0.5400 | 0.6568 | 0.6928 |
| KF | 0.6400 | 0.7740 | 0.8122 |
| AKF | 0.6540 | 0.8269 | 0.8850 |
| AKF-AR | 0.4936 | 0.4879 | 0.5394 |
| AEKF-AR | 0.3310 | 0.2671 | 0.2537 |
| MAR-EKF | 0.1774 | 0.1567 | 0.1698 |
| Event #4 | RMSEt(L1) | RMSEt(L2) | RMSEt(L5) |
|---|---|---|---|
| PLL | 0.1527 | 0.2324 | 0.2330 |
| KF | 0.1742 | 0.2835 | 0.2888 |
| AKF | 0.1725 | 0.2765 | 0.2784 |
| AKF-AR | 0.1835 | 0.2221 | 0.1806 |
| AEKF-AR | 0.0374 | 0.0467 | 0.0445 |
| MAR-EKF | 0.0341 | 0.0284 | 0.0283 |
| Event #6 | RMSEt(L1) | RMSEt(L2) | RMSEt(L5) |
|---|---|---|---|
| PLL | 0.7083 | 0.8431 | 0.8805 |
| KF | 0.8468 | 1.0048 | 1.0497 |
| AKF | 0.8812 | 1.0502 | 1.1056 |
| AKF-AR | 0.5556 | 0.7893 | 0.7826 |
| AEKF-AR | 0.2707 | 0.5290 | 0.4254 |
| MAR-EKF | 0.2344 | 0.2087 | 0.2007 |
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