Consensus-Based Distributed Filtering for GNSS
Amir Khodabandeh, Peter J. G. Teunissen, Safoora Zaminpardaz · InTech eBooks · 2018
Kalman filtering in its distributed information form is reviewed and applied to a network of receivers tracking Global Navigation Satellite Systems (GNSS).We show, by employing consensus-based data-fusion rules between GNSS receivers, how the consensus-based Kalman filter (CKF) of individual receivers can deliver GNSS parameter solutions that have a comparable precision performance as their network-derived, fusion center dependent counterparts.This is relevant as in the near future the proliferation of low-cost receivers will give rise to a significant increase in the number of GNSS users.With the CKF or other distributed filtering techniques, GNSS users can therefore achieve highprecision solutions without the need of relying on a centralized computing center.