Triple Differencing with Kalman Filtering: Making It Work |
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| Authors: | Benjamin W Remondi Grover Brown |
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| Institution: | (1) The XYZs of GPS, Inc., P. O. Box 37, Dickerson, MD 20842, US;(2) Iowa State University, 2601 S. Lakeview Dr., Clear Lake, IA 50428, US |
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| Abstract: | Since global positioning system (GPS) measurements are ranges (code) and biased ranges (carrier), it seems natural to model
them as ranges and determine the biases. This is particularly compelling since the double-difference range biases turn out
to be integers. At some level there is also an elegance, perhaps therefore a naturalness, to modeling the carrier measurements
as time differences of double differences. While something is lost something else is gained. Here we apply the proven delayed-state
Kalman filter to processing carrier phase measurements as triple differences. In practice we process these triple differences
along with double-difference code measurements. We also treat the measurement error as, mostly, Gauss-Markov states to be
determined. Many of the details are discussed and experimental results are included. These demonstrate that excellent performance
can be obtained if the Kalman filter modeling is done carefully. ? 2000 John Wiley & Sons, Inc. |
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