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<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01//EN" "http://www.w3.org/TR/html4/strict.dtd">	<html>		<head>			<title>page_242</title>			<link rel="stylesheet" href="reset.css" type="text/css" media="all">			<meta http-equiv="Content-Type" content="text/html; charset=UTF-8" />		</head>		<body>		<table summary="top nav" border="0" width="100%">			<tr>				<td align="left" width="30%" style="background: #EEF3E2"><a style="color: blue; font-size: 120%; font-weight: bold; text-decoration: none; font-family: verdana;" href="page_241.html">&lt;&nbsp;previous page</a></td>				<td id="ebook_previous" align="center" width="40%" style="background: #EEF3E2"><strong style="color: #2F4F4F; font-size: 120%;">page_242</strong></td>				<td align="right" width="30%" style="background: #EEF3E2"><a style="color: blue; font-size: 120%; font-weight: bold; text-decoration: none; font-family: verdana;" href="page_243.html">next page&nbsp;&gt;</a></td>			</tr>					<tr>				<td id="ebook_page" align="left" colspan="3" style="background: #ffffff; padding: 20px;">    <table border="0" width="100%" cellpadding="0"><tr><td align="center">  <table border="0" cellpadding="2" cellspacing="0" width="100%"><tr><td align="left"></td>  <td align="right"></td>  </tr></table></td></tr><tr><td align="left"><p></p><table border="0" cellspacing="0" cellpadding="0" width="100%"><tr><td align="right"><font face="Times New Roman, Times, Serif" size="2" color="#FF0000">Page 242</font></td></tr></table><table border="0" cellspacing="0" cellpadding="0"><tr><td rowspan="5"></td>  <td colspan="3" height="17"></td>  <td rowspan="5"></td></tr><tr><td colspan="3"></td></tr><tr><td></td>  <td><font face="Times New Roman, Times, Serif" size="3">7.1<br />GPS Receiver Kalman Filter</font></td><td></td></tr><tr><td colspan="3"></td></tr><tr><td colspan="3" height="1"></td></tr></table><table border="0" cellspacing="0" cellpadding="0"><tr><td rowspan="5"></td>  <td colspan="3" height="12"></td>  <td rowspan="5"></td></tr><tr><td colspan="3"></td></tr><tr><td></td>  <td><font face="Times New Roman, Times, Serif" size="3">Three dynamic models are of interest for the analysis of GPS position accuracy. These three models correspond to <i>stationary, low dynamic</i>, and <i>high dynamic</i> applications, and are presented in the following sections. Many GPS receivers allow the user to specify the dynamic level of a given application. To simplify the discussion, the primary focus is on differential GPS applications. For nondifferential applications, the designer must decide how to model the various forms of common-mode errors (e.g., state augmentation, Schmidt-Kalman filter, or increased values for Q and R).</font></td><td></td></tr><tr><td colspan="3"></td></tr><tr><td colspan="3" height="1"></td></tr></table><table border="0" cellspacing="0" cellpadding="0"><tr><td rowspan="5"></td>  <td colspan="3" height="12"></td>  <td rowspan="5"></td></tr><tr><td colspan="3"></td></tr><tr><td></td>  <td><font face="Times New Roman, Times, Serif" size="3">This discussion is used as the basis for the comparison of different methods for INS/GPS coupling in Secs. 7.2 and 7.3.</font></td><td></td></tr><tr><td colspan="3"></td></tr><tr><td colspan="3" height="1"></td></tr></table><table border="0" cellspacing="0" cellpadding="0"><tr><td rowspan="5"></td>  <td colspan="3" height="12"></td>  <td rowspan="5"></td></tr><tr><td colspan="3"></td></tr><tr><td></td>  <td><font face="Times New Roman, Times, Serif" size="3"><i>7.1.1<br />Total-State Kalman filter</i></font></td><td></td></tr><tr><td colspan="3"></td></tr><tr><td colspan="3" height="1"></td></tr></table><table border="0" cellspacing="0" cellpadding="0"><tr><td rowspan="5"></td>  <td colspan="3" height="12"></td>  <td rowspan="5"></td></tr><tr><td colspan="3"></td></tr><tr><td></td>  <td><font face="Times New Roman, Times, Serif" size="3">The Kalman filter that is applicable to the different cases described in the following sections works with the total state, not the error state, as was used in most of the previous examples of this text. The total-state and error covariance are propagated between sampling instants according to</font></td><td></td></tr><tr><td colspan="3"></td></tr><tr><td colspan="3" height="1"></td></tr></table><table border="0" cellspacing="0" cellpadding="0"><tr><td rowspan="5"></td>  <td colspan="3" height="12"></td>  <td rowspan="5"></td></tr><tr><td colspan="3"></td></tr><tr><td></td>  <td><font face="Times New Roman, Times, Serif" size="3"><img src="3bf0e8de11df07d3040aa291f407039d.gif" border="0" alt="0242-01.GIF" width="332" height="18" /></font></td><td></td></tr><tr><td colspan="3"></td></tr><tr><td colspan="3" height="1"></td></tr></table><table border="0" cellspacing="0" cellpadding="0"><tr><td rowspan="5"></td>  <td colspan="3" height="12"></td>  <td rowspan="5"></td></tr><tr><td colspan="3"></td></tr><tr><td></td>  <td><font face="Times New Roman, Times, Serif" size="3"><img src="48518ee1a258792957c8c87d007c1864.gif" border="0" alt="0242-02.GIF" width="333" height="21" /></font></td><td></td></tr><tr><td colspan="3"></td></tr><tr><td colspan="3" height="1"></td></tr></table><table border="0" cellspacing="0" cellpadding="0"><tr><td rowspan="5"></td>  <td colspan="3" height="12"></td>  <td rowspan="5"></td></tr><tr><td colspan="3"></td></tr><tr><td></td>  <td><font face="Times New Roman, Times, Serif" size="3">where </font><font face="Symbol" size="3">F</font><font face="Times New Roman, Times, Serif" size="3"> can be calculated based on the dynamics specified in the following subsections. For the stationary receiver case, this is particularly easy since the first three states propagate according to an identity mapping. In preparation for the next measurement epoch, the predicted outputs and Kalman gains are calculated as</font></td><td></td></tr><tr><td colspan="3"></td></tr><tr><td colspan="3" height="1"></td></tr></table><table border="0" cellspacing="0" cellpadding="0"><tr><td rowspan="5"></td>  <td colspan="3" height="12"></td>  <td rowspan="5"></td></tr><tr><td colspan="3"></td></tr><tr><td></td>  <td><font face="Times New Roman, Times, Serif" size="3"><img src="070a908da7a5d7103c50473ab5b8c7ca.gif" border="0" alt="0242-03.GIF" width="383" height="33" /></font></td><td></td></tr><tr><td colspan="3"></td></tr><tr><td colspan="3" height="1"></td></tr></table><table border="0" cellspacing="0" cellpadding="0"><tr><td rowspan="5"></td>  <td colspan="3" height="12"></td>  <td rowspan="5"></td></tr><tr><td colspan="3"></td></tr><tr><td></td>  <td><font face="Times New Roman, Times, Serif" size="3"><img src="46d0ae162aa23da6b74a1d020023bee1.gif" border="0" alt="0242-04.GIF" width="381" height="19" /></font></td><td></td></tr><tr><td colspan="3"></td></tr><tr><td colspan="3" height="1"></td></tr></table><table border="0" cellspacing="0" cellpadding="0"><tr><td rowspan="5"></td>  <td colspan="3" height="12"></td>  <td rowspan="5"></td></tr><tr><td colspan="3"></td></tr><tr><td></td>  <td><font face="Times New Roman, Times, Serif" size="3"><img src="600f1023815cfa20ed56901089168120.gif" border="0" alt="0242-05.GIF" width="372" height="20" /></font></td><td></td></tr><tr><td colspan="3"></td></tr><tr><td colspan="3" height="1"></td></tr></table><table border="0" cellspacing="0" cellpadding="0"><tr><td rowspan="5"></td>  <td colspan="3" height="12"></td>  <td rowspan="5"></td></tr><tr><td colspan="3"></td></tr><tr><td></td>  <td><font face="Times New Roman, Times, Serif" size="3">At the time that the measurement is available, the estimated state is corrected according to</font></td><td></td></tr><tr><td colspan="3"></td></tr><tr><td colspan="3" height="1"></td></tr></table><table border="0" cellspacing="0" cellpadding="0"><tr><td rowspan="5"></td>  <td colspan="3" height="12"></td>  <td rowspan="5"></td></tr><tr><td colspan="3"></td></tr><tr><td></td>  <td><font face="Times New Roman, Times, Serif" size="3"><img src="8d6f48c9d0c088bb134f3e846942bbb5.gif" border="0" alt="0242-06.GIF" width="441" height="29" /></font></td><td></td></tr><tr><td colspan="3"></td></tr><tr><td colspan="3" height="1"></td></tr></table><table border="0" cellspacing="0" cellpadding="0"><tr><td rowspan="5"></td>  <td colspan="3" height="12"></td>  <td rowspan="5"></td></tr><tr><td colspan="3"></td></tr><tr><td></td>  <td><font face="Times New Roman, Times, Serif" size="3"><img src="e6c1ce9e629193ef927d736728f49b8c.gif" border="0" alt="0242-07.GIF" width="441" height="20" /></font></td><td></td></tr><tr><td colspan="3"></td></tr><tr><td colspan="3" height="1"></td></tr></table><table border="0" cellspacing="0" cellpadding="0"><tr><td rowspan="5"></td>  <td colspan="3" height="12"></td>  <td rowspan="5"></td></tr><tr><td colspan="3"></td></tr><tr><td></td>  <td><font face="Times New Roman, Times, Serif" size="3">This corresponds to an extended Kalman filter implementation; see Sec. 4.7.5.2.</font><font face="Times New Roman, Times, Serif" size="3" color="#FFFF00"></font></td><td></td></tr><tr><td colspan="3"></td></tr><tr><td colspan="3" height="1"></td></tr></table></td></tr></table><p><font size="0"></font></p>聽  </td>			</tr>				<tr>				<td align="left" width="30%" style="background: #EEF3E2"><a style="color: blue; font-size: 120%; font-weight: bold; text-decoration: none; font-family: verdana;" href="page_241.html">&lt;&nbsp;previous page</a></td>				<td id="ebook_next" align="center" width="40%" style="background: #EEF3E2"><strong style="color: #2F4F4F; font-size: 120%;">page_242</strong></td>				<td align="right" width="30%" style="background: #EEF3E2"><a style="color: blue; font-size: 120%; font-weight: bold; text-decoration: none; font-family: verdana;" href="page_243.html">next page&nbsp;&gt;</a></td>			</tr>		</table>		</body>	</html>
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