| 摘要 |
<p>A method and associated algorithm for filtering time-varying location solution coordinates Px,n, Py,n and Pz,n (301) determined by a Satellite Positioning System (SATPS), which operates in a static mode and a dynamic mode (303), to reduce large discontinuities and control the rate at which a changing sequence of measurement errors can induce a change in a sequence of position solutions. The method forms sequences of filtered location coordinates {P^x,n}, {P^y,n} and {P^z,n} (325), smoothed to reduce discontinuities that occur with a changing set of measurement errors. The filtered location coordinates P^x,n, P^y,n and P^z,n (325) are formed as linear combinations of the respective unfiltered location solutions Px,n, Py,n and Pz,n (301) with predicted location coordinates P^x,n-, P^y,n- and P^z,n-. The predicted location coordinates for the present fix time t=tn are formed by projecting ahead the respective preceding filtered location coordinates P^x,n-1, P^y,n-1 and P^z,n-1 for the preceding fix time t=tn-1, using the respective average velocities sqrt(Vx,n + Vx,n-1), sqrt(Vy,n + Vy,n-1) and sqrt(Vz,n + Vz,n-1) in the time interval tn-1 ≤ t ≥ tn.</p> |
