I am currently working to integrate an RTK GPS system into a sensor fusion framework. The framework is based on an Extended Kalman Filter, which is why I need an accurate estimate of the measurement covariance matrix for both RTK fixed and RTK float mode.
Are there any common methods to do this?
All I could find so far is to use noise-adaptive Kalman filtering, as they do in this paper (section III A). However, since most RTK GPS receivers output the covariance matrix directly, I assume there must be other methods to do this independent of the Kalman Filter in the sensor fusion framework?
Thanks in advance for all help!
أكثر...
Are there any common methods to do this?
All I could find so far is to use noise-adaptive Kalman filtering, as they do in this paper (section III A). However, since most RTK GPS receivers output the covariance matrix directly, I assume there must be other methods to do this independent of the Kalman Filter in the sensor fusion framework?
Thanks in advance for all help!
أكثر...