Algorithms of Position and Velocity Estimation in GPS Receivers

Processing of signals in Global Positioning System (GPS) receivers includes numerous signal and data operations leading to calculation of coordinates and velocities of satellites in global Earth-Centered Earth-Fixed (ECEF) frame of reference as well as pseudoranges and delta-ranges between the user and all the tracked GPS satellites. Further processing of these data consists in estimation of the user’s position, velocity and time (PVT) and nowadays it is usually realized by means of an Extended Kalman Filters (EKF). The choice of measuring data processed by the Kalman filter significantly influences the accuracy of navigation solution. In simpler GPS receivers, the estimation of user’s position and velocity is based on pseudoranges only, whereas in more advanced ones delta-ranges are also applied. The paper describes both possible solutions and compares the accuracy of estimation of the user’s position and velocity in both cases. The comparison is based on simulation results, which are included in the paper.