Table 2: MAE and STD of the position errors by the PF, GMSPPF and proposed RAGMSPPF.

Filtering methods Position (100 s, 500 s) Position (500 s, 1000 s)
Longitude Latitude Altitude Longitude Latitude Altitude
PF MAE (m) 6.58 6.94 7.87 11.28 11.33 14.01
STD (m) 7.88 8.57 9.73 13.35 14.11 17.17
GMSPPF MAE (m) 4.96 4.97 6.47 7.30 9.19 11.97
STD (m) 6.11 5.99 7.05 9.06 11.26 14.37
Proposed RAGMSPPF MAE (m) 2.36 2.88 3.01 3.98 3.94 5.09
STD (m) 3.12 3.28 3.52 4.86 5.04 6.39