Two-stage filter using multiple motion models for determining the position and movement with a global positioning system

摘要

A method, corresponding apparatus and corresponding system for determining the position, velocity or acceleration of a receiver of signals conveying information useful in estimating the dynamical quantity like signals from a global positioning system, the method including the steps of: providing a single-point solution, by solving for the dynamical quantity of the receiver using a single-point solution having as an input the information useful in estimating the dynamical quantity being determined; providing a plurality of filter solutions (such as predictive filter solutions from a Kalman filter), and each assuming a different motion model for the receiver; and combining the plurality of filter solutions to provide a first value of the dynamical quantity based on weights that take into account the likelihood of the suitability of each motion model, with the likelihood determined on the basis of agreement of the first value of the dynamical quantity compared with a second value of the dynamical quantity as indicated by a single-point solution.