Realization of Real Time Kinematic Positioning Software Based on Kalman Filter
As an important optimization estimation theory, Kalman filter is applied to deal with many kinds of dynamic data, especially for GPS data and inertial navigation data. In this paper, the Kalman filter is used to solve the two key problems-integer ambiguity calculation and cycle slip detection and correction, and then a real time kinematic (RTK) positioning technique based on Kalman filter is proposed. The experimental results show that the presented method can obtain the positioning accuracy of RTK up to centimeter for data format in GPS.
KeywordsRTK Kalman filter
- 1.Teunissen PJG, de Jonge PJ, iberius CJM (1994) On the spectrum of the GPS DD-ambiguities. In: Proceedings of ION GPS-94, 7th international technical meeting of the satellite, division of the institute of navigation [C], Salt Lake City, UT, pp 115–124Google Scholar
- 3.Xu SQ et al (2001) GPS global position system and its application [M]. Wuhan University of Science and Technology, WuhanGoogle Scholar
- 4.Grewal MS, Andrews AP (2008) Kalman filtering-theory and practice using MATLAB[M]. Wiley, New York, pp 31–120Google Scholar