The estimation of a vehicle's position and velocity based on measurements of pseudoranges and range-rates is a nonlinear filtering problem. We utilize a linearized Kalman filter with global convergence that avoids divergence because the local model linearization is not based on the linearized Kalman filter's own estimates. Instead, the linearization is made about the estimates of another suboptimal Kalman filter that is based on a globally valid quasi-linear time-varying measurement model.
Three-stage filter for position estimation using pseudorange measurements
IEEE Transactions on Aerospace and Electronic Systems ; 52 , 4 ; 1631-1643
2016-08-01
1583252 byte
Article (Journal)
Electronic Resource
English
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