Fundamentals of Kalman Filtering and Applications to GNSS
Fundamentals of Kalman Filtering and Applications to GNSS
Fundamentals of Kalman Filtering and Applications to GNSS
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Problem (cont.)<br />
• <strong>Kalman</strong> filter based upon given model(s)<br />
– Measurement process model<br />
Z( t0 it)<br />
P(<br />
t0<br />
t)<br />
v(<br />
t0<br />
t),<br />
i 1,<br />
2, 3,...30<br />
t 0.1SEC<br />
Data RV Position Measurement<br />
Error +/- 50 ft<br />
– System dynamics model<br />
P<br />
V<br />
V<br />
A<br />
A<br />
0<br />
– Initial condition model<br />
P(<br />
t<br />
V ( t<br />
A(<br />
t<br />
0<br />
0<br />
0<br />
) 100<br />
10<br />
) 15<br />
1<br />
) 20 1<br />
Gs<br />
KFT<br />
KPS<br />
<strong>Kalman</strong> <strong>Filtering</strong> Consultant Associates © 2011<br />
5
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