METHOD AND SYSTEM FOR ESTIMATING POSITION WITH BIAS COMPENSATION

摘要

A primary phase measurement device measures a first carrier phase of a first carrier signal and a second carrier phase of a second carrier signal received by the location-determining receiver. A secondary phase measurement device measures the third carrier phase of a third carrier signal and the fourth carrier phase of fourth carrier signal. A real time kinematic engine estimates a first integer ambiguity set associated with the measured first carrier phase, and a second integer ambiguity set associated with the measured second carrier phase. The real time kinematic engine estimates a third ambiguity set associated with the measured third carrier phase and a fourth ambiguity set associated with the measured fourth carrier phase. A compensator is capable of compensating for the inter-channel bias in at least one of the third ambiguity set and the fourth ambiguity set by modeling a predictive filter (e.g., Kalman filter) in accordance with various inputs or states of the filter estimated by an estimator: