Fig. 6

Sensitivity analysis of the localization performance of our approach with varying values of GNSS measurements: a bias and b standard deviation. For low values of bias, the faults do not significantly impact the navigation solution, resulting in low RMSE values. Beyond the value of 50 m, our approach is able to remove the impact of faulty measurements resulting in low RMSE values. The performance of the algorithm increasingly deteriorates with higher standard deviation in GNSS measurement noise since both the capability to remove faulty measurements and localization are hampered by an increased noise