Design and research of Kalman filter in multi-GNSS receiver

With the rapid development of GNSS receiver´s performance and the coming of each GNSS´s Full Operational Capability (FOC), compatibility and interoperability must be one of the developing trends of GNSS positioning. In this study, a compatible kalman filter was designed. The performances of the compatible kalman filter (KF) and traditional Least Square (LS) were compared through BDS, GPS, and GLONASS real static data in different conditions. The result shows that the compatible KF has more stability and robustness than LS. Position solutions can be obtained from the compatible KF even when the number of satellites is not enough for LS.