Tightly coupled particle-Kalman filter for robust urban satellite positioning (IMAGE)

Meijo University

Tightly coupled particle-Kalman filter for robust urban satellite positioning

Caption

The proposed approach estimates position using a particle filter without integer ambiguity resolution, while a tightly coupled Kalman filter computes velocity from raw Doppler measurements. Particle-wise NLOS rejection and a Student’s t-distribution filter improve robustness in dense urban environments, enabling more reliable GNSS-only positioning.

Credit

Mr. Daiki Niimi from Meijo University, Japan

Usage Restrictions

Credit must be given to the creator.

License

CC BY

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