Standalone Velocity Estimation Method for BDS Receiver Based on Improved ARUKF

Table 2

The SVE errors of three different filter-based SVE methods.

Method Type	Error Statistics
	CEP (m/s)	SEP (m/s)	error components in the
			E, N, U directions (m/s)
			E	N	U
ARUKF using CPDD observation	0.15	0.31	0.04	0.22	0.07
VDFF-ARUKF	0.09	0.18	0.06	0.09	0.16
VDSF-ARUKF	0.05	0.07	0.01	0.06	0.03