Range Filtering for Sequential GPS Receivers

Russell Paielli

Abstract: The filtering of the satellite range and range-rate measurements from single-channel sequential Global Positioning System receivers is usually done with an extended Kalman filter which has state variables defined in terms of an orthogonal navigation-domain reference frame. An attractive suboptimal alternative is range domain filtering, in which the individual satellite measurements are filtered separately before they are combined for the navigation solution. The main advantages of range-domain filtering are decreased processing and storage requirements and simplified tuning. Several range-filter mechanization alternatives are presented, along with an innovative approach for combining the .filtered ranges and range-rates to determine the navigation state estimate. Filter performances are evaluated and compared by computer simulation. Range-domain filtering is found to be competitive in accuracy with conventional navigation-domain filtering, with a reduction in the processing load by a factor of approximately three to six.
Published in: Proceedings of the 1987 National Technical Meeting of The Institute of Navigation
January 20 - 23, 1987
Anaheim, CA
Pages: 115 - 122
Cite this article: Paielli, Russell, "Range Filtering for Sequential GPS Receivers," Proceedings of the 1987 National Technical Meeting of The Institute of Navigation, Anaheim, CA, January 1987, pp. 115-122.
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