GNSS-based position estimation with Kalman filters

This paper is a devoted comparison of stationary user localisation estimations by traditional extended Kalman filter (EKF), linear Kalman filter (LKF) and NRM pre-processed LKF. In this study, Sukru Saracoglu stadium's location was estimated via various types of Kalman filters. Position states due to Earth-centred inertial (ECI) reference frame were obtained by global navigation satellite system (GNSS) receiver. Pseudo-ranging model was used to determining the position of Sukru Saracoglu stadium. To simulate GNSS receiver, random measurement errors were added to the actual distance between the stadium and GNSS satellite. With this study, various filters were compared for stationary user localisation estimation.