Method and device for determining the position and orientation of a mobile transmitter

摘要

The method involves creating a field-theoretical model of a transmission path between a mobile transmitter (10) and receivers (3), where the model defines carrier-phase measured values. The model is implemented in a Kalman filter, and received signals are evaluated with respect to the measured values and/or time of arrival values. Position and orientation of the mobile transmitter are determined in the Kalman filter using the model and the measured values and/or the time of arrival values. The measured values and/or the time of arrival values are corrected using calibration values. An independent claim is also included for an apparatus for determining position and orientation of a mobile transmitter, comprising a kalman filter.