Study on the kalman filtering method and the analysis of filtering accuracy in GPS kinematic positioning with speed observation

A Kalman filtering method in GPS kinematic positioning with speed observation is presented and the dynamic tracking performance of the Kalman filter is greatly improved for estimating maneuvering carrier vehicles. By means of a current statistical model and adaptive algorithm for estimating maneuvering targets, the system equations and the observation equations with speed observation are established in GPS kinematic positioning, and the system observability analysis is performed. It is theoretically analyzed that the dynamic tracking accuracy of filter is greatly improved due to speed observation. The efficiency of the Kalman filter with speed observation is verified by the computer simualation results.