SPEED CONSTRAINT-BASED LOW COST RECEIVER SMOOTHING RTD ALGORITHM

摘要

A speed constraint-based low cost receiver smoothing real time differential (RTD) algorithm, comprising: using a Doppler observation value to solve a speed component; then using the acquired speed component as a pseudo observation value combined with a pseudorange observation value, and establishing a constrained filtering position solution of a robust Kalman filter; using a phase smoothing pseudorange method to improve the precision of the pseudorange observation value, using the Doppler observation value to constrain the speed and direction of a receiver, combining the pseudorange and speed pseudo observation values and establishing the robust Kalman filter for real time dynamic calculation. The result shows that: the method may guarantee the fast and reliable positioning of a low cost receiver, essentially reaches the positioning precision on a sub-meter scale in an open environment, and ensures reliable positioning within 2 meters; and may also essentially ensure positioning precision within 5 meters in a complex environment.