GNSS Hatch METHOD AND DEVICE BASED ON POSITION-DOMAIN HATCH FILTER UTILIZING MULTI-GNSS

摘要

The present invention relates to a location area Hatch filter-based location estimation method and apparatus using multiple GNSS. The location estimation method includes: (a) when one or more visible satellites of a plurality of GNSS satellites exist at a kth time point, Receiving GNSS raw data from the one or more visible satellites, (b) the location-region Hatch filter uses the indirect measurement for casting to estimate a previous position estimate at (k-1) th point earlier than the kth point in time time propagation to the current position estimate at a k-th time point, wherein the plurality of GNSS satellites include different types of satellites, and the previous position estimate and the current position estimate are the GNSS receiver. And an estimated clock error of the GNSS receiver for the plurality of GNSS satellites, wherein the indirect measurement for propagation is the GNS. It includes the actual measurement generated in consideration of the S raw data and the virtual measurement generated in consideration of the clock error conditions and dynamic state conditions of the GNSS receiver.