## 4 Test Results
### Dynamic Test  
Using the developed real-time FKP-DGPS software, we conducted a dynamic test to verify the feasibility of the FKP corrections for the dynamic user. The configuration of the dynamic test is largely similar to that of the static test. The u-blox LEA-6T evaluation kit is selected as the low-cost GPS receiver. Moreover, a Trimble zephyr model 2 antenna was used as the antenna. In the dynamic test, four RSs (YANP, WNJU, YOWL, and WULJ) were selected located at distances of 50, 90, 140, and 225 km south-east of the user in sequence. The dynamic test system was implemented in a land vehicle as shown in Figure 16c, which was driven inside the parking lot of Seoul Grand Park, as shown in Figure 16a. The blue line describes the trajectory of the dynamic user. The test was conducted for \begin{table}
\begin{tabular}{c c c c c} \hline \hline  & & **SBAS** & **DGPS** & **FKP-DGPS** \\ \hline \multirow{2}{*}{50\% Accuracy} & Horizontal & 0.62 m & 0.63 m & 0.43 m \\ \cline{2-5}  & Vertical & 1.06 m & 1.16 m & 0.53 m \\ \hline \multirow{2}{*}{95\% Accuracy} & Horizontal & 1.17 m & 1.46 m & 0.87 m \\ \cline{2-5}  & Vertical & 4.23 m & 2.35 m & 1.51 m \\ \hline \multirow{3}{*}{RMS} & North & 0.54 m & 0.50 m & 0.42 m \\ \cline{2-5}  & East & 0.49 m & 0.59 m & 0.29 m \\ \cline{2-5}  & Vertical & 1.98 m & 1.37 m & 0.77 m \\ \hline \hline \end{tabular}
\end{table} 
Table 6: Position accuracies (SBAS, DGPS, and FKP-DGPS). Figure 15: (a) Horizontal Error (SBAS, DGPS, and FKP-DGPS); and (b) Vertical Error (SBAS, DGPS, and FKP-DGPS). approximately 25 min from 25 May 2017 15:00 in local time (UTC+09). Figure 16b,d show the visible satellites in the sky and PDOP during the test. Figure 17 shows the horizontal and vertical position errors of the DGPS and FKP-DGPS of the WULJ RS, which is the farthest from the static user, in the ENU coordinate compared to the reference positions obtained using the Trimble NetR9 receiver with post-processing Trimble Business Center (TBC) software. The results are similar to the static test results. We can easily confirm that the horizontal result of the DGPS is slightly biased to the west side, whereas the FKP-DGPS obtains a more accurate horizontal positioning than the DGPS. Tables 7 and 8 list the detailed numerical results along with the results of other stations. Like the static test, the FKP-DGPS has more accurate positioning accuracy than the DGPS for most of the results because of the compensate error factors due to the spatial decorrelation. Thus, in the cases of the FKP-DGPS, the improvements of the 95% horizontal accuracy of all stations are 18%, 32%, 46%, and 62% for the corresponding baseline lengths of the RSs compared to the accuracy of the DGPS. Although it is not clear to show the vertical accuracy improvement via the FKP-DGPS in a short-time period of the dynamic test, the error components of the east have definitely reduced. Figure 18a shows the 95% horizontal and vertical error tendency to the baseline length. Figure 18b describes the RMS of the error for each direction based on the result of Tables 7 and 8. In Figure 18, the dashed lines indicate the FKP-DGPS and the solid lines indicate the DGPS. From these figures, we can confirm that the proposed FKP-DGPS is more accurate than the FKP-DGPS.