Reliability Analysis Applied to Kinematic GPS Position and Velocity Estimation

  • Gang Lu
  • Gérard Lachapelle
Conference paper
Part of the International Association of Geodesy Symposia book series (IAG SYMPOSIA, volume 107)

Abstract

Reliability analysis or quality control is an important aspect for real-time kinematic GPS positioning and velocity estimation. Due to the dynamic environment and few or no redundant observations, the reliability control is much more difficult in kinematic than in static GPS surveys. By using the testing theory of dynamic models, this paper investigates the reliability of kinematic GPS positioning and velocity estimation. Recursive formulas for reliability analysis and for the determination of bias influences on the filter state vector are derived. The characteristics of different kinds of bias influences on position and velocity estimation are illustrated with numerical simulations. Some results of reliability analysis corresponding to single and multiple. biases are also given as a function of the number of satellites observed simultaneously.

Keywords

Covariance Remote Sensing Ellite Coverage 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Friedland,B. (1969). Treatment of bias in recursive filtering, IEEE Trans. Automat. Contr., Vol. AC-14, Aug. 1969.Google Scholar
  2. Hwang, P.Y.C., Brown, R.G. (1989) GPS Navigation: Combining Pseudo-range with Continuous Carrier Phase Using a Kalman Filter, Proceedings of the satellite division of ION GPS’89, Colorado Springs, Colorado.Google Scholar
  3. Ignagni, M.B. (1981) An Alternate Derivation and Extension of Friedland’s Two-stage Kalman Estimator, IEEE Trans. Automat. Contr. Vol. AC-26, No.3.Google Scholar
  4. Lachapelle, G. (1990) GPS Observables and Error Sources for Kinematic Positioning. Proc. Intern. Symp. on Kinematic Systems for Geodesy, Surveying and Remote Sensing, Springer Verlag New York (in press).Google Scholar
  5. Salzmann, M.A., Teunissen, P.J.G. (1989) Quality Control in Kinematic Data Processing, Paper presented at the second international symposium on land vehicle navigation, July 4–7, Münster, FRG.Google Scholar
  6. Schwarz, K.P., Cannon, M.E., Wong, R.V.C. (1989) A comparison of GPS kinematic models for the determination of position and velocity along a trajectory,Manuscripta Geodaetica, Vol. 14, 1989.Google Scholar
  7. Teunissen, P.J.G., Salzmann, M.A. (1989) A recursive slippage test for use in state-space filtering, manuscripta geodaetica, Vol. 14, pp. 383–390, 1989.Google Scholar
  8. Teunissen, P.J.G. (1990) Quality control in integrated navigation systems, PLANS’90, Las Vegas, U.S.A.Google Scholar

Copyright information

© Springer-Verlag New York Inc. 1991

Authors and Affiliations

  • Gang Lu
    • 1
  • Gérard Lachapelle
    • 1
  1. 1.Department of Surveying EngineeringThe University of CalgaryCalgaryCanada

Personalised recommendations