The mean square position error (MSPE) of different techniques are simulated at each location on the grid, and then average over all the agent locations on the grid.
With future improvements to the system, we expect to see further significant lowering of this coherent state MSE. Figure 9 Mean square position error for both experiment and simulator as a function of feedback gain.
The X- and Y- axis indicate the target node's coordinate, and the Z- axis is the mean square position error expressed in dB (for instance, -20 dB corresponds to (sqrt {10^{-20/10}} = 0.1 text {~m})).
From which the optimal mean square position error is found to be epsilon_{x} = int_{-infty}^{infty} frac{domega}{2pi}frac {S_{x_{f}}S_{v_{eta}}}{|h' omega)|^{2} S_{x_{f}} + S_{v_{eta}}}.
The orbit determination system is found to provide overlapping orbit solution segments having RMS (root mean square) position and velocity errors of a few meters and a few mm/s, well within the RMS mission requirements of 25 m and 7.5 cm/s.
The effective number of measurements decreases in this approach, but as the CRLB analysis showed, the root mean square position error is comparable to that of the ideal stacked model, at the same time as the synchronization error distribution may be completely disregarded.
