|Abstract:||Motivated by a requirement to provide real-time meter-level positioning of a NASCAR racing car, a modification of the standard Kalman filter was devised. This paper describes an approach that incorporates previous as well as current position states in a Kalman filter to take advantage of phase measurements differenced over time. In this formulation, the phase measurement difference is a measure of the difference in position in the line-of-sight direction to the satellite, so it can act as a relative position constraint of the current position with respect to the previous one. The formulation of the delta-phase observation equation is described, as well as the modifications made to the Kalman filter to incorporate it. An example used to illustrate the effectiveness of the delta-phase measurements in controlling position error growth is included. Test results in various urban environments are presented.|
|Published in:||NAVIGATION, Journal of the Institute of Navigation, Volume 50, Number 2|
|Pages:||65 - 78|
|Cite this article:||
Ford, Thomas J., Hamilton, Jason, "A New Positioning Filter: Phase Smoothing in the Position Domain", NAVIGATION, Journal of The Institute of Navigation, Vol. 50, No. 2,
2003, pp. 65-78.
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