Changing

parameter

Notation

1st test

2nd test

3rd test

Second-order KF performance

Mobile receiver velocity

(v)

1 m/s

10 m/s

30 m/s

KF performed well when mobile receiver velocity was varied.

Shadow variance

(σs)

4 dB

6 dB

8 dB

KF performed well when shadow variance was varied.

Effective correlation distance

(Xc)

10 m

200 m

500 m

KF performed well when effective correlation distance was varied.