gps/soc/software/gps_measurement_python/output/doppler_eskf_summary.csv

1	scenario	path	seeds	fused_rms_mps	fused_rms_seed_std_mps	fused_p95_mps	quiet_rms_mps	dynamic_rms_mps	wls_rms_mps	wls_p95_mps	clock_drift_rms_mps	velocity_accept_percent	nis_reject_percent	fused_95_coverage_percent	excluded_epoch_percent	mean_covariance_scale	mean_alpha
2	steady_cruise	fixed_iir_wls_eskf	20	0.1821998934975134	0.040897665127266884	0.27466022199861373	0.1821998934975134	nan	0.0681533332956358	0.11645920599554568	0.04445747832784426	100.0	0.0	100.0	0.0	1.0000030764799477	0.05000000000000001
3	steady_cruise	raw_wls_eskf	20	0.19046432375253602	0.040009781644375395	0.28906917942032884	0.19046432375253602	nan	0.4164164729808367	0.720889200812689	0.268944777665747	100.0	0.0	100.0	0.0	1.2633800541343088	1.0
4	steady_cruise	adaptive_iir_wls_eskf	20	0.1821998934975134	0.040897665127266884	0.27466022199861373	0.1821998934975134	nan	0.0681533332956358	0.11645920599554568	0.04445747832784426	100.0	0.0	100.0	0.0	1.0000030764799477	0.05000000000000001
5	steady_cruise	raw_robust_wls_eskf	20	0.19046432375253602	0.040009781644375395	0.28906917942032884	0.19046432375253602	nan	0.4164164729808367	0.720889200812689	0.268944777665747	100.0	0.0	100.0	0.0	1.2633800541343088	1.0
6	airliner_maneuver	fixed_iir_wls_eskf	20	0.41605194656716626	0.04357555329949249	0.7083141902703941	0.4019739347287984	0.4380205569605863	0.440222331186762	0.9391237648850084	0.04445747832784397	100.0	0.0	99.71411764705883	0.0	1.0000030764799477	0.05000000000000001
7	airliner_maneuver	raw_wls_eskf	20	0.19046432375253933	0.04000978164437598	0.28906917942032373	0.196483054968526	0.1789145728432288	0.4164164729808368	0.720889200812707	0.2689447776657465	100.0	0.0	100.0	0.0	1.2633800541343085	1.0
8	airliner_maneuver	adaptive_iir_wls_eskf	20	0.19421091770965	0.04161706926344872	0.2913238026993562	0.19649429208827177	0.18911500227901482	0.1349904626304289	0.2634780317604405	0.06996150326971154	100.0	0.0	100.0	0.0	1.0000030764799477	0.11647550111358576
9	airliner_maneuver	raw_robust_wls_eskf	20	0.19046432375253933	0.04000978164437598	0.28906917942032373	0.196483054968526	0.1789145728432288	0.4164164729808368	0.720889200812707	0.2689447776657465	100.0	0.0	100.0	0.0	1.2633800541343085	1.0
10	aggressive_maneuver	fixed_iir_wls_eskf	20	0.9420862291590975	0.03697606175587584	1.7661046896298587	0.9551353937753919	0.918769792345089	1.1782538620062029	2.634559496211176	0.04445747832784312	100.0	0.0	55.891176470588235	0.0	1.0000030764799477	0.05000000000000001
11	aggressive_maneuver	raw_wls_eskf	20	0.19046432375254996	0.04000978164436178	0.2890691794203225	0.1928303776618579	0.18561935253806933	0.41641647298083734	0.7208892008127159	0.2689447776657467	100.0	0.0	100.0	0.0	1.2633800541343083	1.0
12	aggressive_maneuver	adaptive_iir_wls_eskf	20	0.20034438129208682	0.04215736847319882	0.3027038479248761	0.2017392380134829	0.19713256311771804	0.17059135831478262	0.3555978539018994	0.08938088837068828	100.0	0.0	100.0	0.0	1.0001185178364316	0.17603563474387524
13	aggressive_maneuver	raw_robust_wls_eskf	20	0.19046432375254996	0.04000978164436178	0.2890691794203225	0.1928303776618579	0.18561935253806933	0.41641647298083734	0.7208892008127159	0.2689447776657467	100.0	0.0	100.0	0.0	1.2633800541343083	1.0
14	low_cn0_airliner	fixed_iir_wls_eskf	20	0.4194988293998554	0.04110688289349549	0.7094271250760412	0.4045729059455276	0.4427791039662977	0.4845544319763686	0.9431345662991619	0.14058689054355467	100.0	0.0	99.74176470588235	0.0	1.0000281042403611	0.05000000000000001
15	low_cn0_airliner	raw_wls_eskf	20	0.25103588282812916	0.04464089418791806	0.4041748199164089	0.2555504221567221	0.2416319579439005	1.3168245098334108	2.2796518151866563	0.8504780622313423	100.0	0.0	100.0	0.0	1.26385941740462	1.0
16	low_cn0_airliner	adaptive_iir_wls_eskf	20	0.20588009483954214	0.040099541607423995	0.3090368268997948	0.2069944088941925	0.20293127741446826	0.337603473203961	0.684354700050294	0.21325106769335284	100.0	0.0	100.0	0.0	1.0000902389090656	0.1040055679287305
17	low_cn0_airliner	raw_robust_wls_eskf	20	0.25103588282812916	0.04464089418791806	0.4041748199164089	0.2555504221567221	0.2416319579439005	1.3168245098334108	2.2796518151866563	0.8504780622313423	100.0	0.0	100.0	0.0	1.26385941740462	1.0
18	single_satellite_outliers	fixed_iir_wls_eskf	20	0.49511238386612133	0.053875439119808514	0.8173709856169348	0.5050054814659805	0.4779542859711989	1.1463378050509494	0.9892652696081077	0.8027251360930692	100.0	0.0	97.6964705882353	0.0	6.927634385063575	0.05000000000000001
19	single_satellite_outliers	raw_wls_eskf	20	0.2570227443883875	0.05273042903908908	0.39439133440568985	0.27216019157834215	0.22927677845507954	1.4512624341492657	0.8297158565959334	1.0630956381619745	100.0	0.0	100.0	0.0	11.13597527632786	1.0
20	single_satellite_outliers	adaptive_iir_wls_eskf	20	0.3556263234893831	0.05851649747663683	0.595609347562141	0.3792437361871613	0.31186327209433895	1.1538474734782178	0.5683617007748845	0.8527337411854743	100.0	0.0	100.0	0.0	7.7254775572955	0.11647550111358576
21	single_satellite_outliers	raw_robust_wls_eskf	20	0.19054941715698687	0.03971061631217381	0.2889429468862187	0.19658211712738688	0.1789788721793858	0.4181969381744313	0.7254268588122093	0.27034697594947305	100.0	0.0	100.0	2.8953229398663693	1.2641999517115465	1.0
22	clock_drift_steps	fixed_iir_wls_eskf	20	0.4160519465671664	0.04357555329949111	0.7083141902703948	0.4019739347287993	0.4380205569605854	0.44022233118676146	0.9391237648850096	1.8177258394243663	100.0	0.0	99.71411764705883	0.0	1.0000030764799477	0.05000000000000001
23	clock_drift_steps	raw_wls_eskf	20	0.19046432375253802	0.04000978164437644	0.28906917942032334	0.19648305496852497	0.17891457284322693	0.41641647298083695	0.7208892008126868	0.268944777665747	100.0	0.0	100.0	0.0	1.2633800541343085	1.0
24	clock_drift_steps	adaptive_iir_wls_eskf	20	0.19421091770965143	0.0416170692634497	0.29132380269935765	0.19649429208827301	0.18911500227901648	0.1349904626304289	0.26347803176043993	1.818528619384018	100.0	0.0	100.0	0.0	1.0000030764799477	0.11647550111358576
25	clock_drift_steps	raw_robust_wls_eskf	20	0.19046432375253802	0.04000978164437644	0.28906917942032334	0.19648305496852497	0.17891457284322693	0.41641647298083695	0.7208892008126868	0.268944777665747	100.0	0.0	100.0	0.0	1.2633800541343085	1.0
26	gps_gap_recovery	fixed_iir_wls_eskf	20	0.3971781427894736	0.044796626065109466	0.7104470646835127	0.3873196668983798	0.41253405912166263	0.43094056066637465	0.9463346669492851	0.04458606585950929	100.0	0.0	99.90529411764706	0.0	1.0000036934211136	0.05
27	gps_gap_recovery	raw_wls_eskf	20	0.2082177514862905	0.03682283889189333	0.32879462613500177	0.21668463381045563	0.1921901394048915	0.41707211010710354	0.7203717161799947	0.26913433965877315	100.0	0.0	100.0	0.0	1.2631217416869522	1.0
28	gps_gap_recovery	adaptive_iir_wls_eskf	20	0.20776527476484566	0.044556420313135676	0.3257106582800945	0.21357805324970008	0.19661285828638408	0.12935782738837362	0.2613749696102362	0.06764578524374312	100.0	0.0	100.0	0.0	1.0000036934211136	0.10814839572192514
29	gps_gap_recovery	raw_robust_wls_eskf	20	0.2082177514862905	0.03682283889189333	0.32879462613500177	0.21668463381045563	0.1921901394048915	0.41707211010710354	0.7203717161799947	0.26913433965877315	100.0	0.0	100.0	0.0	1.2631217416869522	1.0
30	mixed_flight_faults	fixed_iir_wls_eskf	20	0.9404176641021843	0.04319034103529422	1.7661662430364344	0.9555417869207146	0.9132850762857121	1.5154618461064036	2.663221132275041	0.7591896512045151	100.0	0.0	60.37294117647059	0.0	1.3397749809447188	0.05000000000000001
31	mixed_flight_faults	raw_wls_eskf	20	0.22399771088975795	0.05069473595820174	0.3492819306443341	0.23151007332767243	0.2092729705094658	1.498455933396739	2.36689254151483	0.7603191788358898	100.0	0.0	100.0	0.0	2.1864248911994575	1.0
32	mixed_flight_faults	adaptive_iir_wls_eskf	20	0.2952659489493427	0.07200078881833771	0.4874378367724045	0.30541797568187434	0.2754557634719251	0.838415542523151	0.9361678311586857	0.47500979673114047	100.0	0.0	99.92470588235294	0.0	1.250042525522558	0.178938679245283
33	mixed_flight_faults	raw_robust_wls_eskf	20	0.2208132635451996	0.04372541489397352	0.3416439647301807	0.22864253849532457	0.20560052604298312	1.0129266912203836	2.2537697549366906	0.673490930924677	100.0	0.0	100.0	1.9103773584905661	1.5692458289027678	1.0