Application of Kalman Filter to Beidou/GPS Joint-Positioning for Software Receiver

X. Zhang, Y. Wang, X. Cui, Z. Feng

Abstract:	With the development of Beidou system, the global navigation satellite system would provide more reliable service with more accurate PVT estimation. Joint-positioning method should be considered in order to make full use of the satellites. In this paper, we design a real time interoperable GPS L1 and Beidou B1 software receiver. The framework of the receiver is described and observations of both systems used for joint-processing are obtained from this receiver. As different clocks are used in the RF stage and Sampler, traditional kalman filtering does not work in out platform. An 11-state kalman filtering method is proposed to deal with the clock problem. Two states are added for estimating the error in doppler shift observations and another state is added to indicate time bias between the two systems. Tests using real data as well as simulated data are performed and results show that the proposed kalman filtering method can work under our experimental environment. Observations are modified as if some of the satellite signals are blocked. Tests under this condition reveal the advantages of joint-positioning method. To implement the proposed method in a real time receiver, the computational complexity is also evaluated.
Published in:	Proceedings of the 2012 International Technical Meeting of The Institute of Navigation January 30 - 1, 2012 Marriott Newport Beach Hotel & Spa Newport Beach, CA
Pages:	1724 - 1766
Cite this article:	Zhang, X., Wang, Y., Cui, X., Feng, Z., "Application of Kalman Filter to Beidou/GPS Joint-Positioning for Software Receiver," Proceedings of the 2012 International Technical Meeting of The Institute of Navigation, Newport Beach, CA, January 2012, pp. 1724-1766.
Full Paper:	ION Members/Non-Members: 1 Download Credit Sign In