Linear differential processing of pseudorange data for stand-alone GPS positioning or sensor fusion

摘要

This paper presents a positioning method based on a linear differential processing of pseudo-ranges raw GPS data. This method offers the advantage, compared to a standard differential GPS system (DOPS), to avoid the complex processing of satellites orbits. Used in a stand-alone way, this method gives performances similar to those of a standard DGPS system with the same restriction to a minimal number of four visible satellites. However, in a reduced satellite visibility framework, we take advantage of this method to combine raw GPS data and dead-reckoning data by means of the Kalman formalism. We show in this context that residual satellite information is still taken into account though the direct GPS positioning is no more available.