Bridging GPS Outages using the Optimal Estimate to eliminate the Position and Velocity Errors

In this paper, a method is provided to bridge the outages of GPS with little computation load and easy application. In order to solve the bridging problem, KF method is improved while GPS is in outage. And the bridging method is provided based on the optimal smoothing. The simulation is given based on the fix-interval smoothing, and the results show that the errors of position and velocity is eliminated after the method being taken. Finally, the conclusion is discussed through an analysis between the simulation result and experienced application result.