Relative Mutual Positioning Using Smartphones

Recent android smartphones allow access to raw measurements of global navigation satellite systems (GNSS, such as GLONASS, GPS, Beidou, Galileo). In the paper trajectory filtering of joint raw GNSS measurements received from pair of smartphones fixed on drivers’ panel within car’s cabin and in pedestrian’s hands is considered. An adaptive trajectory filtering algorithm is presented. Its estimations were compared with ones from high-precision GNSS receivers in real-time kinematics mode.