Table 4 Comparison of relative positioning.

From: Outlier-tolerant relative positioning method based on multi-source information fusion for unmanned aerial vehicles

Relative positioning error

RMSE/m

traditional LS

Outlier-tolerant LS

X direction

0.1231

0.0952

Y direction

0.1439

0.0953

Z direction

0.2441

0.0943

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