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

摘要

A method for mitigating atmospheric errors in code and carrier phase meas urements based on signals received from a plurality of satellites in a globa l navigation satellite system is disclosed. A residual tropospheric delay an d a plurality of residual ionospheric delays are modeled as states in a Kalm an filter (block 340). The state update functions of the Kalman filter inclu de at least one baseline distance dependant factor, wherein the baseline dis tance is the distance between a reference receiver and a mobile receiver (bl ock 340). A plurality of ambiguity values are modeled as states in the Kalma n filter. The state update function of the Kalman filter for the ambiguity s tates includes a dynamic noise factor (block 360 in Figure 3B). An estimated position of mobile receiver is updated (block 370) in accordance with the r esidual tropospheric delay (block 372), the plurality of residual ionospheri c delays (block 374) and/or the plurality of ambiguity values (block 376).