taroz / RTKLIB

Improvement of velocity estimation of RTKLIB

Improvement of velocity estimation of RTKLIB

• Estimation of inter-system bias of Doppler frequency
• Validation of velocity estimation
• Output of valiance of velocity
• Output velocity even when position cannot be computed

Setting1

Inter System Biases of Doppler Frequency

• DISB: This option estimates GPS-GLO, GPS-BDS, and GPS-GAL inter system biases of Doppler frequency (pos1-posopt6 = ON)

• Horizontal velocity error (Static test, GPS+GLO+BDS+GAL)
  

• Note: Additional observations are needed to estimate the bias. The availability of velocity will be decreased in urban environments.

Output

Output Velocity

• Out Vel: Output velocity in .pos file (out-outvel = ON)
• Format: vn(m/s) ve(m/s) vu(m/s) Q ns sdvn sdve sdvu sdvne sdveu sdvun

Output All Solutions

• Out All: Output every solutions even when position cannot be computed (out-outall = ON)
• Q=0: Position or velocity cannot be computed due to lack of observations.The previous position or velocity is outputted.
• Q=-1: Position or velocity is rejected by validation (e.g. chi-square test)

Statistics

Doppler frequency (Hz)

• Standard deviation of Doppler frequency error (Hz) : SD_Doppler
• Current error model is as follows: sd = SD_Doppler/sin(elevation)