An Optimum Recursive Filter with Integer States (ORFIS) for Relative Navigation with GPS Accumulated-Phase Measurements

Duncan B. Cox and John D. W. Brading

Abstract:	In 1993 Prof. Peter Teunissen provided a general theoretical approach to finding a weighted-least-squared- error solution to a set of linear measurement equations involving unknown continuous and integer states. In 1995 he provided a practical method (known as the LAMBDA method) of efficiently implementing part of this approach, namely, the resolution of the integer states. This paper provides a method of implementing the general Teunissen approach using a Kalman filter. The result is an Optimum Recursive Filter with Integer States (ORFIS). Extensions to prediction and smoothing are straight- forward. The paper discusses the properties of the ORFIS filter and provides a summary of its proof of optimality. Applications to navigation systems are described where GPS accumulated phase measurements, and other measurements, are utilized.
Published in:	Proceedings of the 15th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 2002) September 24 - 27, 2002 Oregon Convention Center Portland, OR
Pages:	2768 - 2773
Cite this article:	Cox, Duncan B., Brading, John D. W., "An Optimum Recursive Filter with Integer States (ORFIS) for Relative Navigation with GPS Accumulated-Phase Measurements," Proceedings of the 15th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS 2002), Portland, OR, September 2002, pp. 2768-2773.
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