Flight-Test Evaluation of Kinematic Precise Point Positioning of Small UAVs

Table 5

Mean and standard deviation positioning error statistics by positioning approach for each flight.

Receiver	Flight 1				Flight 2				Flight 3
	Front		Back		Front		Back		Front		Back
Algorithm	(m)	(m)	(m)	(m)	(m)	(m)	(m)	(m)	(m)	(m)	(m)	(m)
PR2P-PP	1.98	1.32	3.11	2.80	3.20	3.82	2.57	0.85	1.85	0.84	2.27	0.96
RTKLIB-PP	1.77	1.17	3.68	2.23	3.57	3.75	2.99	1.80	1.69	0.64	2.05	0.83
GD2P-PPP	0.61	0.038	0.91	0.20	0.63	0.03	0.99	0.082	1.391	0.029	1.33	0.026
RTKLIB-PPP	1.99	0.048	2.23	0.18	0.59	0.013	0.65	0.066	0.97	0.018	1.013	0.025