Dynamical Models with Constraint for Precise RTK Positioning

Shinichi Kitao, Yukihiro Kubo, Yoshiyuki Muto and Sueo Sugimoto

Abstract:	In this paper, we propose a dynamical model with constraints on a moving object for precise real-time kinematic GPS by utilizing L1 and L2 carrier phase and pseudorange measurements, which based on C/A code, if available P (Y) code also. In precise kinematic GPS positioning, a suitable choice of the dynamical model for the moving object is important to improve the position accuracy. Many research activities have been focusing on determination of adequate dynamical models and their performance. The most popular model proposed for kinematic GPS positioning is that three coordinates of the accelerations or velocities of moving objects are described by .rst order Markov processes. In this paper, we propose some kinematic constraints on the moving object which incorporate with the observation as the pseudomeasurement. These dynamical models and the observation are extended to be more suitable for the moving object such as the land vehicle. The constraint of the moving object’s velocity and the constraint of its acceleration are compared in terms of the position accuracy and the ambiguity resolution. Finally, some experimental results are comparatively shown.
Published in:	Proceedings of the 18th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2005) September 13 - 16, 2005 Long Beach Convention Center Long Beach, CA
Pages:	1555 - 1563
Cite this article:	Kitao, Shinichi, Kubo, Yukihiro, Muto, Yoshiyuki, Sugimoto, Sueo, "Dynamical Models with Constraint for Precise RTK Positioning," Proceedings of the 18th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2005), Long Beach, CA, September 2005, pp. 1555-1563.
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