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Results of positioning improvement at a 5 Hz update rate, constant speed of 5 km/h (3.1 mph) and 60° heading angle along a straight path (a) in a simulation with artificial data; and (b) in tests, processing data from a real onboard Navilock NL-402U GPS receiver. The purple line joins two corresponding points, before and after the filtering, to qualitatively show the negligible magnitude of the delay.
