Hybrid particle filtering algorithm for GPS multipath mitigation
(1. School of Environment Science and Spatial Informatics,
China University of Mining and Technology, Xuzhou 221116, China;
2. NASG Key Laboratory for Land Environment and Disaster Monitoring, Xuzhou 221116, China)
China University of Mining and Technology, Xuzhou 221116, China;
2. NASG Key Laboratory for Land Environment and Disaster Monitoring, Xuzhou 221116, China)
Abstract: An alternative algorithm for mitigating GPS multipath was presented by integrating unscented Kalman filter (UKF) and wavelet transform with particle filter. Within consideration of particle degeneracy, UKF was taken for drawing particle. To remove the noise from raw data and data processing error, adaptive wavelet filtering with threshold was adopted while data preprocessing and drawing particle. Three algorithms, named EKF-PF, UKF-PF and WM-UKF-PF, were performed for comparison. The proposed WM-UKF-PF algorithm gives better error minimization, and significantly improves performance of multipath mitigation in terms of SNR and coefficient even though it has computation complexity. It is of significance for high-accuracy positioning and non-stationary deformation analysis.
Key words: particle filtering; wavelet transformation; global positioning system (GPS); multipath mitigation