Fig. 9From: On fault detection and exclusion in snapshot and recursive positioning algorithms for maritime applicationsEffect of the Monte Carlo injected GNSS fault amplitudes on the estimated position (static Scenario 1) (left) and HPE of SPP, loosely- and tightly coupled (with FDE) GNSS/IMU EKFs for a scenario with inherent measurement fault (dynamic Scenario 2) (right)Back to article page