Extended Kalman Filter Based User Position Algorithm for Terrestrial Navigation System

An Extended Kalman Filter (EKF) based exact user position algorithm for the terrestrial navigation system is developed. The major advantage of such algorithm is that it does not require any initial guess since terrestrial systems are very sensitive to the initial guess for convergence to the true solution. Furthermore, a comparison of the iterative exact algorithm without EKF and with EKF was done on the data collected from an experiment with four terrestrial transmitters. It is observed that after applying EKF, the algorithm outperforms iterative exact solution in terms of accuracy and precision both. Horizontal, vertical position accuracies and RSS errors obtained using iterative exact solution are 9.09, 24.23 and 25.88 m whereas EKF based solution are 66 cm, 1.5 m and 1.69 m respectively with standard deviation (SD) of position errors significantly reduced to 33 cm.

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