EURASIP Journal on Advances in Signal Processing

Table 1 Satellites and UAV departure points in the simulation setup, where ENU(0,0,0) corresponds to LLH(116.3328,40.0018,100)

From: Robust all-source positioning of UAVs based on belief propagation

	0	1	2	3	4	5
Satellite
x[s]	26,559,995	-13,815.86	-26,559,995	13,815.86	13,278,763	N/A
y[s]	1,425.03	15,232,692	1,425.03	15,232,692	23,002,343	N/A
z[s]	15,867.57	21,757,722	15,867.57	21,757,722	15,867.57	N/A
User
E[d]	19,900	-600	20,500	20,500	19,800	19,900
N[d]	19,200	20,100	20,020	20,500	19,800	19,900
U[d]	2,000	1,020	1,050	1,100	900	1,200

N/A, not applicable.

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