Reliability Analysis Applied to Kinematic GPS Position and Velocity Estimation

Reliability analysis or quality control is an important aspect for real-time kinematic GPS positioning and velocity estimation. Due to the dynamic environment and few or no redundant observations, the reliability control is much more difficult in kinematic than in static GPS surveys. By using the testing theory of dynamic models, this paper investigates the reliability of kinematic GPS positioning and velocity estimation. Recursive formulas for reliability analysis and for the determination of bias influences on the filter state vector are derived. The characteristics of different kinds of bias influences on position and velocity estimation are illustrated with numerical simulations. Some results of reliability analysis corresponding to single and multiple. biases are also given as a function of the number of satellites observed simultaneously.