Analyzing Position-Domain Hatch Filter for Real-Time Kinematic Differential GNSS

Performance characteristics of the position-domain Hatch filter is analyzed for differential global navigation satellite systems. It is shown that the position-domain Hatch filter generates white measurement residual sequences, which is beneficial property for fault detection. It is also shown that the position-domain Hatch filter yields more accurate a priori state estimate than the position-domain Kalman-type filter. Thus, it can be concluded that the position-domain Hatch filter is beneficial in wide application areas where fault-tolerance and accuracy are required at the same time.