Estimation · Summary Examine correlations -Process noise · White noise · Random walk First-order Gauss Markov Processes Kalman filters Estimation in which the parameters to be estimated are changing with time

Basic concepts Basic problem: We measure range and phase data that are related to the positions of the ground receiver, satellites and other quantities How do we determine the \ best position for the receiver and other quantities What do we mean by best \ estimate?

Examined methods for measuring distances Examined GPS codes that allow a type of distance measurement and phase to be measured Examine how the range measurements are defined Use of carrier phase measurements Examine rinEx format and look at some \raw data

GPS Observables Today's class we start discussing the nature of GPS observables and the methods used to make range and phase measurements Start with idea of remotely measuring distances

Potential field based coordinates: -Astronomical latitude and longitude -Orthometric heights (heights measured about an equipotential surface, nominally mean-sea-level

Coordinate Systems Today we cover: Definition of coordinates - Conventionalrealization of coordinates Modern realizations using spaced based geodetic systems (such as GPS)

《GPS测量定位技术》课程教学大纲

1.1 Data Handling 1. 2 Cycle Slip Detection and Repair

1.1 Terminology Definitions 3. Point Positioning ys. Relative positioning The coordinates of a single point are determined when 1. Code Range vs, Carrier Phase Code measurements(meter level) Carrier phase measurements(millimeter range). Single point positioning

1. 1 Error Categories 1. Errors related to GPs Satellites 2. Errors related to GPS signal propagation