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. Author manuscript; available in PMC: 2020 Feb 1.
Published in final edited form as: Auton Robots. 2018 Jun 11;43(2):435–448. doi: 10.1007/s10514-018-9769-7

Table 1.

Model Estimates of va with Sensor Combinations

Polynomial Type (4th Order) RMSE (°) R2
va = f (L1a) 0.323 0.9997286
va = f (L1a − L3a) 0.149 0.9999421
va = f (L1a, L2a) 0.029 0.9999979
va = f (L1a − L3a, L2a − L4a) 0.020 0.9999990