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

摘要

The present invention relates to a method and a device for estimating a position based on a position-domain hatch filter utilizing multi-GNSS. The method for estimating a position comprises: (a) a step in which a GNSS receiver receives GNSS source data from one or more visible satellites if the one or more visible satellites among a plurality of GNSS satellites exist at a k^th time point; and (b) a step in which a position-domain hatch filter performs time propagation on a previous position estimation value at a (k-1)^th time point which is before the k^th time point to a present position estimation value at the k^th time point by using an indirect measurement value for time propagation, wherein the GNSS satellites include different types of satellites, the previous position estimation value and the present position estimation value include an estimation clock error of the GNSS receiver with respect to the GNSS satellites, and the indirect measurement value for time propagation includes an actual measurement value generated in consideration of the GNSS source data and a virtual measurement value generated in consideration of a clock error condition and a dynamic state condition of the GNSS receiver.