Fig. 7From: On fault detection and exclusion in snapshot and recursive positioning algorithms for maritime applicationsPrecision of the approaches with and without FDE scheme for non-inertial (pure GNSS) positioning static Scenario 1: LS with constant noise model (top-left), LS with weighted noise model (top-right), EKF with constant noise model (bottom-left) and EKF with weighted noise model (bottom-right)Back to article page