Fig. 4

Localization accuracy comparison between our approach, J-PF, and KF-RAIM approaches for (i) few-fault scenario and (ii) many-fault scenario. We fix the underlying ground-truth trajectory to be a square of side 1000 m with (0, 0) as both the start and end positions. In single fault scenario, all approaches exhibit similarly small positioning errors. Our approach estimates the vehicle state with better accuracy that J-PF and KF-RAIM in scenarios with many faulty measurements