DISTANCE DEPENDANT ERROR MITIGATION IN REAL-TIME KINEMATIC (RTK) POSITIONING

摘要

A method for mitigating atmospheric errors in code and carrier phase measurements based on signals received from a plurality of satellites in a global navigation satellite system is disclosed. A residual tropospheric delay and a plurality of residual ionospheric delays are modeled as states in a Kalman filter (block 340). The state update functions of the Kalman filter include at least one baseline distance dependant factor, wherein the baseline distance is the distance between a reference receiver and a mobile receiver (block 340). A plurality of ambiguity values are modeled as states in the Kalman filter. The state update function of the Kalman filter for the ambiguity states includes a dynamic noise factor (block 360 in Figure 3B). An estimated position of mobile receiver is updated (block 370) in accordance with the residual tropospheric delay (block 372), the plurality of residual ionospheric delays (block 374) and/or the plurality of ambiguity values (block 376).