Design of a BD-2/GPS Integrated Positioning Algorithm and Analysis of Its Positioning Accuracy

In this paper, an integrated positioning algorithm based on BD/2 and GPS is proposed. The design principle and mathematical derivation of the integrated algorithm are developed from the principle of the traditional GNSS system. On the basis of the least-squares algorithm, the weighted least-squares method and Kalman filter algorithm for the integrated navigation system were used. The optimized weighted least squares method has advantages in the respect of simplification and error scatter gather degree. Kalman filter algorithm is validated by the simulation that the proposed algorithm is able to provide a smooth integrated navigation service with higher accuracy than the stand-alone GNSS system.