Using IMM adaptive estimator in GPS positioning

The interacting multiple model (IMM) adaptive estimator is used as a means of improving the GPS receiver positioning performance in various dynamic conditions. Each Kalman filter is considered to be locally valid, applicable over a region of the working space defined by the filter conditioning value. Three dynamic models correspond to the stationary, low dynamic, and high dynamic working space. A numerical study is used to demonstrate the viability of the concept. In comparison with previous methodology, the new, IMM based method leads to an improvement in GPS position accuracy