## 5 Localization Algorithm Performance  
In order to assess the performance of the upgraded localization algorithm, two sets of measurement data were collected and evaluated. GNSS input data for the integration algorithm were recorded with a JAVAD TRIUMPH-LS, operating at 5 Hz. IMU input data for the integration algorithm were recorded with an Xsens MTi-G-700, operating at 200 Hz. Odometry input data for the integration algorithm were recorded from the vehicle's CAN bus with 100 Hz. \begin{table}
\begin{tabular}{c c c c c} \hline \hline  & \begin{tabular}{c} **Single-Epoch Solutions,** \\ **Computed Including the** **Calcibrated DCBs (in m)** \\ \end{tabular} & \
\begin{tabular}{c} **Single-Epoch Solutions,** \\ **Computed Without the** **Calcibrated DCBs (in m)** \\ \end{tabular} &
\begin{tabular}{c} **Single-Epoch Solutions,** \\ **Computed by RTKLIB with** **If Combinations (in m)** \\ \end{tabular} \\ \hline JAVAD & \([0.7;\ 0.8;\ 1.6]\) & \([1.3;\ 1.5;\ 3.0]\) & \([0.9;\ 1.2;\ 2.1]\) \\ TRIUMPH-LS \#1 & \([0.6;\ 0.8;\ 1.4]\) & \([1.0;\ 1.5;\ 2.6]\) & \([0.8;\ 1.0;\ 2.0]\) \\  & \([0.6;\ 0.7;\ 1.4]\) & \([1.3;\ 1.5;\ 2.9]\) & \([0.8;\ 1.1;\ 2.2]\) \\ \hline JAVAD & \([0.7;\ 0.8;\ 1.7]\) & \([1.3;\ 1.4;\ 3.0]\) & \([0.9;\ 1.3;\ 2.1]\) \\ TRIUMPH-LS \#2 & \([0.6;\ 0.8;\ 1.4]\) & \([1.1;\ 1.6;\ 2.8]\) & \([0.8;\ 0.9;\ 2.2]\) \\  & \([0.6;\ 0.7;\ 1.3]\) & \([1.2;\ 1.6;\ 2.9]\) & \([0.8;\ 1.1;\ 2.2]\) \\ \hline All six data & \([0.6;\ 0.8;\ 1.5]\) & \([1.2;\ 1.5;\ 2.9]\) & \([0.8;\ 1.1;\ 2.1]\) \\ sets combined & \([0.6;\ 0.8;\ 1.5]\) & \([1.2;\ 1.5;\ 2.9]\) & \([0.8;\ 1.1;\ 2.1]\) \\ \hline \hline \end{tabular}
\end{table} 
Table 6: RMS Position Error for Single-Epoch Solutions. Results from Three Static 24 h Data Sets, Each Collected with Two Receivers on Days 151 (First Line of Each Cell), 153 (Second Line of Each Cell) and 154 (Third Line of Each Cell) of 2018. ENU Coordinate Frame. \begin{table}
\begin{tabular}{c c c c c} \hline \hline  & \begin{tabular}{c} **DCB Between** \\ **L2C-L1 C/A and** **L5-L1 C/A and** **L1 C/A (in m)** \\ \end{tabular} & \
\begin{tabular}{c} **DCB Between** \\ **E5a-E1 and** **E1 (in m)** \\ \end{tabular} &
\begin{tabular}{c} **DCB Between** \\ **E5b-E1 and** **E1 (in m)** \\ \end{tabular} \\ JAVAD & \(3.7/3.8/3.7\) & \(-2.0/-2.0/-2.0\) & \(-3.1/-3.0/-3.0\) & \(3.4/3.2/3.2\) \\ TRIUMPH-LS \#1 & \(0.8/0.8/0.8\) & \(0.7/\ 0.6/\ 0.7\) & \(0.7/\ 0.6/\ 0.7\) & \(0.7/0.8/0.8\) \\ \hline JAVAD & \(3.9/4.0/3.9\) & \(-1.8/-1.9/-1.8\) & \(-2.8/-2.9/-2.9\) & \(3.5/3.3/3.3\) \\ TRIUMPH-LS \#2 & \(0.8/0.8/0.8\) & \(0.7/\ 0.6/\ 0.7\) & \(0.7/\ 0.6/\ 0.7\) & \(0.7/0.8/0.8\) \\ \hline \#1 and \#2 & \(3.8\) & \(-1.9\) & \(-3.0\) & \(3.3\) \\ combined & \(0.8\) & \(0.7\) & \(0.7\) & \(0.8\) \\ \hline \hline \end{tabular}
\end{table} 
Table 5: Mean (First Line of Each Cell) and Standard Deviation (Second Line of Each Cell) of Estimated DCBs. Results from Three 24 h Data Sets, Each Collected with Two Receivers on Days 151, 153 and 154 of 2018. A reference solution was computed with Novatel's Waypoint - Inertial Explorer software, using multi-frequency GNSS data from two JAVAD TRIUMPH-LS (RTK with base and rover at 5 Hz) and inertial data from a navigation grade IMU (iMAR iNAV-RQH-1003, operating at 300 Hz). The two sets of measurement data are:  
1. Roughly 40 min long drive over a distance of approximately 13 km on the 14 th of March 2018 through the inner city of Darmstadt, including a passage through a tunnel lasting roughly 40 s/450 m.
2. Roughly 100 min long drive over a distance of approximately 90 km on the 14 th of March 2018, including towns with multi-story buildings on both sides of the road, villages with smaller houses, country roads (with and without forest), freeways and a passage through a tunnel lasting roughly 55 s/1000 m.  
Figures 3 and 4 present information about the GNSS availability for both data sets. In both figures, satellites with an elevation smaller than 5\({}^{\circ}\) are neglected.