Effective Efficiency Advantage Assessment of Information Filter for Conventional Kalman Filter in GNSS Scenarios

摘要

The Global Navigation Satellite System (GNSS) is a widely used positioning technique. Computational efficiency is crucial to applications such as real-time GNSS positioning and GNSS network data processing. Many researchers have made great efforts to address this problem by means such as parameter elimination or satellite selection. However, parameter estimation is rarely discussed when analyzing GNSS algorithm efficiency. In addition, most studies on Kalman filter (KF) efficiency commonly have defects, such as neglecting application-specified optimization and limiting specific hardware platforms in the conclusion. The former reduces the practicality of the solution, because applications that need such analyses on filters are often optimized, and the latter reduces its generality because of differences between platforms. In this paper, the computational cost enhancement of replacing the conventional KF with the information filter (IF) is tested considering GNSS application-oriented optimization conditions and hardware platform differences. First, optimization conditions are abstracted from GNSS data-processing scenarios. Then, a thorough analysis is carried out on the computational cost of the filters, considering hardware–platform differences. Finally, a case of GNSS dynamic differencing positioning is studied. The simulation shows that the IF is slightly faster for precise point positioning and much faster for the code-based single-difference GNSS (SDGNSS) with the constant velocity (CV) model than the conventional KF, but is not a good substitute for the conventional KF in the other algorithms mentioned. The real test shows that the IF is about 50% faster than the conventional KF handling code-based SDGNSS with the CV model. Also, the information filter is theoretically equivalent to and can produce results that are consistent with the Kalman filter. Our conclusions can be used as a reference for GNSS applications that need high process speed or real-time capability.