A Novel Positioning Algorithm with Pseudo Range and Carrier Phase Based on Kalman Filter

For the traditional GPS single-point and single-frequency dynamic positioning, the method of pseudo-range observation or carrier phase is generally adopted to solve the problem of position. Although there is no problem in calculating the ambiguity of integer cycle, there is much observation noise with the poor accuracy of positioning, which only satisfies the general demands of navigation. Suppose carrier phase is directly used for positioning, there will be no way to determine real-time integer cycles of phase variations that satellite carrier signal makes on the diffusion line. In this paper, the author combines pseudo range and carrier phase, and adopts Kalman filtering of Singer tracking model, which makes positioning highly accurate under the condition of single point and single frequency. Besides, the delay of electric inhibition abscission layer, the troposphere delay and the transient change of the multi-path effect have little influence on signal.