Abstract
When satellite signal is keep out seriously, the number of satellites is insufficient, multipath effect heavily affected, kalman filter positioning will appear filtering divergence and the least-squares positioning easily arise large deviation, this paper put forward a kinematic GNSS positioning method based on unscented kalman filter (UKF) with single and double difference at a time among adjacent coordinates to smooth the positioning results in order to modifying the calculated every epoch coordinate. Multi-group experiments results showed that this method can eliminate positioning deviation points and realize the continuity and validity of the positioning. At present the method has been successfully applied to wearable device in Hi-Target Surveying Instrument Co. Ltd, which offered wearable device sufficient insurance on the continuity and validity of positioning.
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Acknowledgements
The authors are grateful to Hi-Target Surveying Instrument Co. Ltd for supporting a good technology platform. This research is supported by the National Natural Science Foundation (61263028), Science and Technology Plan Project of Guangzhou city (201604010075), “Collaborative Precision Positioning” Project of National Key Research Program of China (2016YFB0501900).
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Li, C., Pan, G., Cai, C., Li, C., Shi, X. (2017). A Kinematic GNSS Positioning Method Based on Unscented Kalman Filter. In: Sun, J., Liu, J., Yang, Y., Fan, S., Yu, W. (eds) China Satellite Navigation Conference (CSNC) 2017 Proceedings: Volume I. CSNC 2017. Lecture Notes in Electrical Engineering, vol 437. Springer, Singapore. https://doi.org/10.1007/978-981-10-4588-2_67
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DOI: https://doi.org/10.1007/978-981-10-4588-2_67
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