Position-domain Hatch filter for kinematic differential GPS/GNSS

Motivated by the accuracy benefit of the Hatch gain compared with the Kalman-type gain and the advantage of position-domain (PD) filtering compared with range-domain (RD) filtering under frequent changes in visible satellite set, this paper proposes a PD Hatch filter for kinematic differential satellite-based positioning. It is shown that the Hatch gain generates white residual sequence in both the RD and the PD. An experiment result demonstrates that the proposed PD Hatch filter is advantageous in real-time kinematic positioning.

[1]  J. Farrell,et al.  The global positioning system and inertial navigation , 1999 .

[2]  Per K. Enge,et al.  Global positioning system: signals, measurements, and performance [Book Review] , 2002, IEEE Aerospace and Electronic Systems Magazine.

[3]  Chris Rizos,et al.  Design of kinematic DGNSS filters with consistent error covariance information , 2004 .

[4]  Chris Rizos,et al.  Position domain filtering and range domain filtering for carrier-smoothed-code DGNSS: an analytical comparison , 2005 .

[5]  Michael S. Braasch.  GPS multipath model validation , 1996, Proceedings of Position, Location and Navigation Symposium - PLANS '96.

[6]  Bradford W. Parkinson,et al.  Global positioning system : theory and applications , 1996 .

[7]  P. Axelrad,et al.  SNR-based multipath error correction for GPS differential phase , 1996, IEEE Transactions on Aerospace and Electronic Systems.

[8]  Richard B. Langley,et al.  Precise, Efficient GPS-Based Geometric Tkacking of Low Earth Orbiters , 1999 .

[9]  J. K. Ray,et al.  GPS code and carrier multipath mitigation using a multiantenna system , 2001 .

[10]  Frank van Graas,et al.  High-Accuracy Differential Positioning for Satellite-Based Systems Without Using Code-Phase Measurements1 , 1995 .

[11]  R.D.J. van Nee,et al.  The multipath estimating delay lock loop: approaching theoretical accuracy limits , 1993, Proceedings of 1994 IEEE Position, Location and Navigation Symposium - PLANS'94.

[12]  N. A. Carlson.  Federated square root filter for decentralized parallel processors , 1990 .

[13]  Gyu-In Jee,et al.  GPS multipath detection based on sequence of successive-time double-differences , 2004, IEEE Signal Processing Letters.

[14]  Helena Leppäkoski,et al.  Complementary Kalman Filter for Smoothing GPS Position with GPS Velocity , 2003 .

[15]  Bradford W. Parkinson,et al.  Calibration of Multipath Errors on GPS Pseudorange Measurements , 1994 .

[16]  D.-J. Jwo.  Optimisation and sensitivity analysis of GPS receiver tracking loops in dynamic environments , 2001 .

[17]  R. Hatch.  The synergism of GPS code and carrier measurements , 1982 .

[18]  Richard A. Brown,et al.  Introduction to random signals and applied kalman filtering (3rd ed , 2012 .

[19]  Gyu-In Jee,et al.  An Efficient GPS Receiver Algorithm for Channelwise Multipath Detection and Real-Time Positioning , 2002 .

[20]  PATRICK Y. C. HWANG,et al.  GPS Navigation: Combining Pseudorange With Continuous Carrier Phase Using a Kalman Filter , 1989 .

[21]  Gary A. McGraw,et al.  Enhanced Differential GPS Carrier-Smoothed Code Processing Using Dual Frequency Measurements , 1998 .