Bourns College of Engineering

This tech note extends the discussion of the numerical results in [1]. The main article should be read first. This technical note includes numerical results that could not fitwithin the journal page constraints. It presents the statistics of the vertical error for the nonlinear (INS) model and discussesthe interplay between the error, risk, and GDOP metrics for portions of an experiment using the linear (PVA) model. The error, risk and PVA metrics are defined in Sections VIII-C and VIII-E of [1].Each table and figure herein considers five algorithms, as summarized in Section VIII-B of [1]. Four of the algorithms are the NP-(E)KF with four different values of the decision parameter g. The final algorithm is the RAPS approach.