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12.540 Principles of the Global
Positioning System
Lecture 13
Prof. Thomas Herring
Estimation
• Summary
– First-order Gauss Markov Processes
– Kalman filters – Estimation in which the parameters
to be estimated are changing with time
dx
Excitation function = −x(t)β + w(t)
dt
Δt
Solution x(t + Δt) = e−Δtβ x(t) + e−Δtβ ∫ e β w(t + u)du
u
0
White Noise Excitation
⎛ (1− e−2Tβ ) ⎞
Variance over interval T σ (T) = σ ⎜1+
2 2
⎟
⎝ 2Tβ ⎠
T
(V )
−1
K=C A
t
t +1
T
t +1 t +1 + A t +1 C A
t
t +1
T
t +1
σ4
Error in variance estimate is ≈ 2
σ0