Table 4.

Relative positioning techniques.

Relative Positioning Technique	RSS Ranging	Radar	Laser Scanner	ToF Camera	Vision Based	RTD	GNSS Only	Differential GNSS	Diff. GNSS + INS	GNSS Carrier Phase
Cooperative	No	No	No	No	No	Yes	Yes	Yes	Yes	Yes
Accuracy	$--$ 5–20 $\mathrm{m}$	$++$ 0.1 $\mathrm{m}$ 0.2 $\mathrm{m}{\mathrm{s}}^{-1}$ 0.1${}^{\circ }$	$++$ 0.02 $\mathrm{m}$ 0.5 $\mathrm{m}{\mathrm{s}}^{-1}$ 0.1${}^{\circ }$	$++$ 0.1 $\mathrm{m}$ 0.2 $\mathrm{m}{\mathrm{s}}^{-1}$ 0.1${}^{\circ }$	− 1–5 $\mathrm{m}$	+ 0.5–1 $\mathrm{m}$	− 2–10 $\mathrm{m}$ 0.01 $\mathrm{m}{\mathrm{s}}^{-1}$ 0.25–10${}^{\circ }$	∘ 0.5–5 $\mathrm{m}$ 0.01 $\mathrm{m}{\mathrm{s}}^{-1}$ 0.25–10${}^{\circ }$	+ 0.5–2 $\mathrm{m}$ 0.01 $\mathrm{m}{\mathrm{s}}^{-1}$ 0.25–1${}^{\circ }$	$++$ 0.01–0.05 $\mathrm{m}$ 0.01 $\mathrm{m}{\mathrm{s}}^{-1}$ 0.25–10${}^{\circ }$
Availability	∘	∘	∘	−	∘	+	−	−	+	$--$
Reliability	∘	$++$	+	∘	∘	∘	+	$++$	$++$	+
Range and Field of View	$++$ 400 $\mathrm{m}$ 360${}^{\circ }$	∘ 250 $\mathrm{m}$ ±15${}^{\circ }$	∘ 200 $\mathrm{m}$ 360${}^{\circ }$	$--$ 20 $\mathrm{m}$ 40${}^{\circ }$	− 40 $\mathrm{m}$ ±20${}^{\circ }$	$++$ 300 $\mathrm{m}$ 360${}^{\circ }$	$++$ 400 $\mathrm{m}$ 360${}^{\circ }$	$++$ 400 $\mathrm{m}$ 360${}^{\circ }$	$++$ 400 $\mathrm{m}$ 360${}^{\circ }$	$++$ 400 $\mathrm{m}$ 360${}^{\circ }$
Dimensional Resolution	$--$ 1D	∘ 2D	+ 2D/3D	+ 2D/3D	+ 2D/3D	$--$ 1D	+ 3D	+ 3D	+ 3D	+ 3D
Target Resolution	$--$	∘	∘	+	+	$++$	$++$	$++$	$++$	$++$
Non-Technical	$++$	∘	−	$--$	+	$++$	$++$	+	−	−