Abstract
: An approach for estimating the GPS pseudorange measurement noise statistics is proposed. GPS noise estimation is essential when accounting for incorrectly-modeled GPS noise in cases of unknown receiver signal to noise such as added interference, jamming, or spoofing signals. The noise mean and covariance are estimated using two schemes: the limited memory noise estimator and the weighted limited memory noise estimator. The two schemes are compared and simulation results are presented to show the accuracy of the algorithms in determining the noise statistical characteristics. The noise estimation algorithm is intended for use along with an ultra-tightly coupled GPS/IMU estimation filter to first estimate the mean and covariance of the noise and then use these estimates in the GPS/INS filter to accurately determine the receiver's state.
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