KF 1. Manipulation of GPS Outputs Background motivation Stand-alone gps receiver gives position and velocity These are obtained by independent methods position t pseudo-ranges elocity doppler effe and are certainly related(=v) Kalman filter can be used to combine them! · Motivation Typical Accuracies Position 30 velocity 0.15m/s Many gps receivers provide high qual ity velocity information > Use high quality velocity measurement to improve position estimateKF 1. Manipulation of GPS Outputs Background & Motivation • Stand-alone GPS receiver gives position and velocity • These are obtained by independent methods : • position Å pseudo-ranges • velocity Å Doppler effect and are certainly related ( x = v) Æ Kalman filter can be used to combine them ! • Motivation : Typical Accuracies Position ~ 30 m Velocity ~ 0.15 m/s Many GPS receivers provide high quality velocity information Æ Use high quality velocity measurement to improve position estimate