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Using goGPS software with a multi-antenna GPS system to improve navigation with low-cost receivers

Abstract and Figures

goGPS is a free and open source software package designed to enhance the accuracy of single frequency low-cost GPS devices by employing an extended Kalman filter. This filter can be applied either in post-processing or in real-time and it is specifically tailored for addressing the issues related to low-cost GPS receivers. To further enhance the accuracy of kinematic positioning and to jointly estimate the rover velocity and attitude, in the present work a multi-antenna approach has been investigated and integrated into the goGPS Kalman filter. In this approach the known and fixed geometry of a cluster of low-cost antennas is used to constrain the solution. The improvements obtained by the proposed technique are evaluated with the use of three u-blox LEA-4T receivers in a test scenario.
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... In this approach, the PVT of each receiver is estimated by using standard Extended Kalman Filter (EKF) or Least Squares Estimation (LSE). The clock bias and drift values thus obtained can be used to interpolate the raw measurements to common reference epochs [12]. This is easy to implement and is well studied approach. ...
... The same interpolation method can be used in situations with more than two receivers by selecting a reference receiver and interpolating raw measurements of all the other receivers to its measurement epochs. Other techniques such as Lagrange polynomial interpolation can be used instead of direct subtraction , for interpolating raw measurements [12]. ...
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