Excellence in Research and Innovation for Humanity

International Science Index

Select areas to restrict search in scientific publication database:
Static Single Point Positioning Using The Extended Kalman Filter
Global Positioning System (GPS) technology is widely used today in the areas of geodesy and topography as well as in aeronautics mainly for military purposes. Due to the military usage of GPS, full access and use of this technology is being denied to the civilian user who must then work with a less accurate version. In this paper we focus on the estimation of the receiver coordinates ( X, Y, Z ) and its clock bias ( δtr ) of a fixed point based on pseudorange measurements of a single GPS receiver. Utilizing the instantaneous coordinates of just 4 satellites and their clock offsets, by taking into account the atmospheric delays, we are able to derive a set of pseudorange equations. The estimation of the four unknowns ( X, Y, Z , δtr ) is achieved by introducing an extended Kalman filter that processes, off-line, all the data collected from the receiver. Higher performance of position accuracy is attained by appropriate tuning of the filter noise parameters and by including other forms of biases.
Digital Article Identifier (DAI):


[1] Leick, A., GPS Satellite Surveying , Second Edition, John Wiley&Sons, INC., 1995.
[2] Hofmann-Wellenhof, B., Lichtenegger, H., Collins, J., GPS Theory and Practice, Third Revised Edition, Springer-Verlag, New York, NY, 1994.
[3] Gelb, Arthur, Ed., Applied Optimal Estimation, M.I.T. Press, Cambridge, MA, 1974.
[4] Brown R.G., Hwang P., Introduction to Random Signals and Applied Kalman Filtering, Second Edition, John Wiley&Sons, INC., 1992.
[5] Dana H. Peter, Global Positioning System Overview, (Online) http://www.colorado.edu/geography/gcraft/notes/gps/gps_f.html
[6] OBE Consulting Engineers Rinex format data, www.obec.com/data/TRSDATA/Rinex/index.htm
[7] Dermanis A., Space Geodesy and Geodynamimcs, Editions Ziti, 1999.
[8] Rossikopoulos D., Topographic networks and computations, 2nd edition, Editions Ziti, 1992. (in Greek)
[9] Kalman R. E., "A new approach to linear filtering and prediction problems," Transactions of the ASME---Journal of Basic Engineering, pp. 35-45, March 1960.
[10] Julier, S. J., Uhlmann J. K. and Durrant-Whyte, H. F., "A new approach for filtering nonlinear systems," Proc. American Control Conference, Seattle, Washington, pp. 1628-1632, 1995.
[11] Chen G., Wang J. and Shieh L., "Interval kalman filtering," IEEE Trans. Aerosp. Electron. Syst. 33, pp. 250-259, 1997.
[12] Guanrong C., Qingxian X. and Shieh L.S., "Fuzzy kalman filtering," Inf. Sci. 109, pp. 197-209, 1998.
[13] Mao ,X., Wada, M. and Hashimoto, H., "Nonlinear GPS models for position estimate using low-cost GPS receiver," IEEE Intel. Transp. Syst. Proc., 12-15 Oct., pp.637-642, Vol. 1, 2003.
[14] Swanson, S. R., "A fuzzy navigational state estimator for GPS/INS integration," Position Location and Navigation Symposium IEEE , 20-23 Apr., pp. 541-548, 1998.
[15] Villalon-Turrubiates, I.E., Ibarra-Manzano, O.G., Shmaliy, Y.S. and Andrade-Lucio, J.A., "Three-dimensional optimal Kalman algorithm for GPS-based positioning estimation of the stationary object," Proceedings of First International Conference on Advanced Optoelectronics and Lasers, 16-20 Sept., pp. 274 - 277, Vol.2, 2003.
[16] Ponomaryov, V.I., Pogrebnyak, O.B., de Rivera, L.N. and Garcia, J.C.S., "Increasing the accuracy of differential global positioning systemby means of use the Kalman filtering technique," Proceedings of the 2000 IEEE International Symposium on Industrial Electronics, pp. 637 - 642, Vol.2, 2000.
Vol:12 No:04 2018Vol:12 No:03 2018Vol:12 No:02 2018Vol:12 No:01 2018
Vol:11 No:12 2017Vol:11 No:11 2017Vol:11 No:10 2017Vol:11 No:09 2017Vol:11 No:08 2017Vol:11 No:07 2017Vol:11 No:06 2017Vol:11 No:05 2017Vol:11 No:04 2017Vol:11 No:03 2017Vol:11 No:02 2017Vol:11 No:01 2017
Vol:10 No:12 2016Vol:10 No:11 2016Vol:10 No:10 2016Vol:10 No:09 2016Vol:10 No:08 2016Vol:10 No:07 2016Vol:10 No:06 2016Vol:10 No:05 2016Vol:10 No:04 2016Vol:10 No:03 2016Vol:10 No:02 2016Vol:10 No:01 2016
Vol:9 No:12 2015Vol:9 No:11 2015Vol:9 No:10 2015Vol:9 No:09 2015Vol:9 No:08 2015Vol:9 No:07 2015Vol:9 No:06 2015Vol:9 No:05 2015Vol:9 No:04 2015Vol:9 No:03 2015Vol:9 No:02 2015Vol:9 No:01 2015
Vol:8 No:12 2014Vol:8 No:11 2014Vol:8 No:10 2014Vol:8 No:09 2014Vol:8 No:08 2014Vol:8 No:07 2014Vol:8 No:06 2014Vol:8 No:05 2014Vol:8 No:04 2014Vol:8 No:03 2014Vol:8 No:02 2014Vol:8 No:01 2014
Vol:7 No:12 2013Vol:7 No:11 2013Vol:7 No:10 2013Vol:7 No:09 2013Vol:7 No:08 2013Vol:7 No:07 2013Vol:7 No:06 2013Vol:7 No:05 2013Vol:7 No:04 2013Vol:7 No:03 2013Vol:7 No:02 2013Vol:7 No:01 2013
Vol:6 No:12 2012Vol:6 No:11 2012Vol:6 No:10 2012Vol:6 No:09 2012Vol:6 No:08 2012Vol:6 No:07 2012Vol:6 No:06 2012Vol:6 No:05 2012Vol:6 No:04 2012Vol:6 No:03 2012Vol:6 No:02 2012Vol:6 No:01 2012
Vol:5 No:12 2011Vol:5 No:11 2011Vol:5 No:10 2011Vol:5 No:09 2011Vol:5 No:08 2011Vol:5 No:07 2011Vol:5 No:06 2011Vol:5 No:05 2011Vol:5 No:04 2011Vol:5 No:03 2011Vol:5 No:02 2011Vol:5 No:01 2011
Vol:4 No:12 2010Vol:4 No:11 2010Vol:4 No:10 2010Vol:4 No:09 2010Vol:4 No:08 2010Vol:4 No:07 2010Vol:4 No:06 2010Vol:4 No:05 2010Vol:4 No:04 2010Vol:4 No:03 2010Vol:4 No:02 2010Vol:4 No:01 2010
Vol:3 No:12 2009Vol:3 No:11 2009Vol:3 No:10 2009Vol:3 No:09 2009Vol:3 No:08 2009Vol:3 No:07 2009Vol:3 No:06 2009Vol:3 No:05 2009Vol:3 No:04 2009Vol:3 No:03 2009Vol:3 No:02 2009Vol:3 No:01 2009
Vol:2 No:12 2008Vol:2 No:11 2008Vol:2 No:10 2008Vol:2 No:09 2008Vol:2 No:08 2008Vol:2 No:07 2008Vol:2 No:06 2008Vol:2 No:05 2008Vol:2 No:04 2008Vol:2 No:03 2008Vol:2 No:02 2008Vol:2 No:01 2008
Vol:1 No:12 2007Vol:1 No:11 2007Vol:1 No:10 2007Vol:1 No:09 2007Vol:1 No:08 2007Vol:1 No:07 2007Vol:1 No:06 2007Vol:1 No:05 2007Vol:1 No:04 2007Vol:1 No:03 2007Vol:1 No:02 2007Vol:1 No:01 2007