A KALMAN FILTER SINGLE POINT POSITIONING FOR MARITIME APPLICATIONS USING A SMARTPHONE

Anna INNAC , Antonio ANGRISANO , Gino DARDANELLI , Vincenzo DELLA CORTE , Elena MARTELLATO , Alessandra ROTUNDI , Giampaolo FERRAIOLI , Pasquale PALUMBO , Salvatore GAGLIONE

DOI: 10.21163/GT_2021.163.02

ABSTRACT: Different positioning techniques have been largely adopted for maritime applications that require high accuracy kinematic positioning. The main objective of the paper is the performance assessment of a Single Point Positioning algorithm (SPP), with a Kalman filter (KF) estimator, adapted for maritime applications. The KF has been chosen as estimation technique due to the ability to consider both the state vector dynamic and the measurements. Particularly, in order to compute an accurate vertical component of the position, suitable for maritime applications, the KF settings have been modified by tuning the covariance matrix of the process noise. The algorithm is developed in Matlab environment and tested using multi-GNSS single-frequency raw data, collected by a smartphone located on board a moving ship. The algorithm performance evaluation is carried out in position domain and the results show an enhancement of meter order on vertical component compared to the classical SPP based on Least Square estimation technique. In addition, different GNSSs configurations are considered to verify the benefits of their integration in terms of accuracy, solution availability and geometry.

Keywords: Single Point Positioning; GNSS; Vessel; Smartphone

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