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PERFORMANCE COMPARISON OF THE ITERATIVE LEAST SQUARES AND THE EXTENDED KALMAN FILTERING FOR GPS-BASED POSITIONING SYSTEMS

Mehmet Kabakan

First published: 2018-06-20https://doi.org/10.5593/sgem2018/2.2/s08.045View metrics

Abstract

Positioning is a critical task for applications that involve mobile nodes as well as applications that rely on fixed nodes. The Global Positioning System (GPS) is a satellite-based navigation system that provides its users with proper equipment access to positioning information. The Iterative Least Squares (ILS) and Extended Kalman Filtering (EKF) techniques are two of the most commonly used approaches for GPS positioning. Both ILS and EKF techniques are based on the same pseudorange equation and both of the techniques can be used to calculate the unknowns in the equation, the coordinate of the receiver position and the clock bias. On the other hand, in the EKF-based technique, the nonlinearity of the pseudorange equation is addressed, and a constant velocity model is used as the process model. In this study we compare the accuracy of ILS and EKF for GPS-based positioning systems. As the results of our simulation studies prove, the accuracy of EKF for GPS-based positioning systems is better than ILS. If smoother, such as Rauch-Tung-Striebel, is implemented in the EKF technique, improvement in position accuracy and precision can be obtained. Our field tests to test and verify the real world implementation of the approaches used in this study have been started recently.

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Publication details

Title
PERFORMANCE COMPARISON OF THE ITERATIVE LEAST SQUARES AND THE EXTENDED KALMAN FILTERING FOR GPS-BASED POSITIONING SYSTEMS
Authors
Mehmet Kabakan
Proceedings
SGEM International Multidisciplinary Scientific GeoConference EXPO Proceedings; 18th International Multidisciplinary Scientific GeoConference SGEM2018, Informatics, Geoinformatics and Remote Sensing
Publisher
STEF92 Technology
Year
2018
Pages
355-360
SWS Citekey
Kabakan20188355360
ISSN
1314-2704
ISBN
978-619-7408-40-9
Language
en
Publication type
Conference Paper
Proceedings contents
Open official contents
Keywords
The Iterative Least Squares (ILS)The Extended Kalman Filtering (EKF)The Global Positioning System (GPS)positioning error.
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