This is a question about Clifford Algebra, so it might fit here in Linear & Abstract Algebra. However, APS and STA are specifically used for special/general relativity.
APS is the algebra of 3 euclidean vectors + 1 scalar (Also called Cl_3). As far as I can tell from looking at the Wikipedia article, they seem to arbitrarily decide that the scalar entry is time. This seems very similar to the Quaternions and probably suffers from similar problems.
STA is the algebra of 4 minkowski type vectors (+++- signature), also called Cl_{3,1}. There are 4 components for each vector. In addition to vectors, this algebra contains scalars, bi-vectors, tri-vectors, and quad-vectors. These higher vector types correspond to different types of geometric objects that can naturally appear in a theory.
Either APS or STA (or even standard vector calculus) can be used to describe special/general relativity. However, APS is an artificial construction of spacetime from the algebra Cl_3, while STA is a very natural way of talking about spacetime using Cl_{3,1}.
STA puts space and time on equal footing, but APS makes space into vector components but time into a scalar. Because of this, the equations of STA are generally easier to interpret geometrically and work with algebraically than those of APS.