Fig. 8From: Reliable urban vehicle localization under faulty satellite navigation signalsDetection of positioning failures using our method, visualized against positioning errors on real-world data. Our method is able to detect positioning failures at times where position error exceeds the alarm limit (shown as the dotted line), highlighting its potential for real-world integrity monitoring. However, periods of missed detections exist between correct ones, underlining the need for future research to enhance the algorithm’s ability to consistently detect positioning failuresBack to article page