Calcuating the CE, STD, and RMSE

It isn't clear if we are calculating these at 100 Hz, 0.3 Hz, or 10 Hz.

Table 1 (all of these need to be noted in the table):

• Smartphone GPS: this should be calculated at 0.3 Hz, interpolating DGPS at 0.3 Hz.
• Smartphone Acc: at 100 Hz
• DGPS: at 10 Hz

Fig 10, 11, 12, 13, 14:

• SP @ 0.3 Hz
• CF @ 100 hz
• KF @ 100 hz