caa a22 4500 606162526 CHVBK 20210128100639.0 cr unu---uuuuu 210128e20150401xx s 000 0 eng 10.1007/s10291-014-0381-9 doi (NATIONALLICENCE)springer-10.1007/s10291-014-0381-9 Lin Shiou-Gwo Department of Communications, Navigation and Control Engineering, National Taiwan Ocean University, 2 Pei-Ning Road, 20224, Keelung, Taiwan aut Assisted adaptive extended Kalman filter for low-cost single-frequency GPS/SBAS kinematic positioning [Elektronische Daten] [Shiou-Gwo Lin] Using a low-cost single-frequency global positioning system (GPS) receiver for kinematic positioning, the ambiguity resolution requires longer data accumulation time compared to survey-grade dual-frequency receivers. A satellite-based augmentation system (SBAS) can provide added measurement to help solve this problem. However, the SBAS signal strength is weaker and the satellite orbit and clock errors are greater than those of GPS satellites. The difference in phase measurement quality between GPS and SBAS satellites must be considered to prevent an unstable positioning result or diverging position solution. This study proposes using the assisted adaptive extended Kalman filter (AAEKF) method to address this problem. The concept of AAEKF involves using measurements from the reference station to estimate the errors of each satellite. This information is then employed to dynamically adjust the corresponding measurement model of the extended Kalman filter. The proposed method was validated with 24h of experiment data from four different baselines obtained using a consumer-grade L1 GPS receiver. The experimental results show that AAEKF can be successfully employed for GPS/SBAS kinematic positioning. The ambiguity resolution success rates of 2, 5, and 10min of measurements improved by about 3.2, 2.4, and 1.6 times, respectively, and the positioning accuracy of the north, east, and height directions improved by 14-44, 17-56, and 9-53%, when adding the SBAS measurement. Springer-Verlag Berlin Heidelberg, 2014 GPS nationallicence SBAS nationallicence Adaptive extended Kalman filter nationallicence Kinematic positioning nationallicence GPS Solutions Springer Berlin Heidelberg 19/2(2015-04-01), 215-223 1080-5370 19:2<215 2015 19 10291 https://doi.org/10.1007/s10291-014-0381-9 text/html Onlinezugriff via DOI BK010053 XK010053 XK010000 Metadata rights reserved Springer special CC-BY-NC licence nationallicence 1 research-article jats NATIONALLICENCE NATIONALLICENCE NL-springer NATIONALLICENCE 856 40 https://doi.org/10.1007/s10291-014-0381-9 text/html Onlinezugriff via DOI NATIONALLICENCE 100 1- Lin Shiou-Gwo Department of Communications, Navigation and Control Engineering, National Taiwan Ocean University, 2 Pei-Ning Road, 20224, Keelung, Taiwan aut NATIONALLICENCE 773 0- GPS Solutions Springer Berlin Heidelberg 19/2(2015-04-01), 215-223 1080-5370 19:2<215 2015 19 10291