Development of Advanced Extended Kalman Filter for Precise Estimation of GPS Receiver Position

Abstract

Most of the navigation algorithms are being used to estimate GPS receiver position. But, none of them are achieved full accuracy yet. Thus, there is requirement of new algorithms. Precise estimation of GPS receiver clock bias is essential in order to eliminate its affect on the position estimation. Otherwise, the estimated position shall be inaccurate. In this paper, an Advanced Kalman Filter (AEKF) is proposed which offers accurate estimation and fast convergence rate in order to precisely estimate the GPS receiver clock bias along with its position. The proposed AEKF and standard Extended Kalman Filter (EKF) are practically implemented on the GPS data collected from a dual frequency GPS receiver that is installed at Andhra University, Visakhapatnam (Lat. $17.73^{\circ}N/Lon. 83.31^{\circ}E$). From the results, it is observed that the proposed AEKF is a better algorithm that provides precise estimation of GPS receiver clock bias and GPS receiver position compared to standard EKF.