Kalman-filter-based GPS clock estimation for near real-time positioning | GPS Solutions Skip to main content
Springer Nature Link
Log in

Kalman-filter-based GPS clock estimation for near real-time positioning

  • Original Article
  • Published:
GPS Solutions Aims and scope Submit manuscript

Abstract

In this article, an algorithm for clock offset estimation of the GPS satellites is presented. The algorithm is based on a Kalman-filter and processes undifferenced code and carrier-phase measurements of a global tracking network. The clock offset and drift of the satellite clocks are estimated along with tracking station clock offsets, tropospheric zenith path delay and carrier-phase ambiguities. The article provides a brief overview of already existing near-real-time and real-time clock products. The filter algorithm and data processing scheme is presented. Finally, the accuracy of the orbit and clock product is assessed with a precise orbit determination of the MetOp satellite and compared to results gained with other real-time products.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Subscribe and save

Springer+ Basic
¥17,985 /Month
  • Get 10 units per month
  • Download Article/Chapter or eBook
  • 1 Unit = 1 Article or 1 Chapter
  • Cancel anytime
Subscribe now

Buy Now

Price includes VAT (Japan)

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3

Similar content being viewed by others

Explore related subjects

Discover the latest articles, news and stories from top researchers in related subjects.

References

  • Bar-Sever Y (2008) The NASA Global Differential GPS System—System Description—Network. Accessible online: http://www.gdgps.net/system-desc/network.html. Accessed June 2008

  • Bar-Sever Y, Bell B, Dorsey A, Srinivasan J (2003) Space applications of the NASA global differential GPS system. Institute of Navigation. Portland, Oregon

    Google Scholar 

  • Bock H, Dach R, Yoon Y, Montenbruck O (2008) GPS clock correction estimation for near real-time orbit determination applications. Aerosp Sci Technol (submitted)

  • Collins P, Langley R, LaMance J (1996) Limiting factors in tropospheric propagation delay error modelling for GPS airborne navigation. Proceedings of the Institute of Navigation 52nd annual meeting, Cambridge, Massachusetts, 19–21 June 1996, pp 519–528

  • Dach R, Hugentobler U, Fridez P, Meindl M (2007) Bernese GPS Software 5.0. Astronomical Institute, University of Bern

  • Hutsell S (1996) Relating the Hadamard variance to MCS Kalman filter clock estimation. 27th annual precise time and time interval (PTTI) applications and planning meeting, pp 291–301

  • IGS (2008) Weekly Sinex files, ftp://cddis.gsfc.nasa.gov/pub/gps/products. Accessed June 2008

  • McCarthy DD, Petit G (2004) IERS technical note No. 32 (2003). Verlag des Bundesamts für Kartographie und Geodäsie, Frankfurt am Main

    Google Scholar 

  • Montenbruck O, van Helleputte T, Kroes R, Gill E (2005) Reduced dynamic orbit determination using GPS code and carrier measurements. Aerosp Sci Technol 9(3):261–271. doi:10.1016/j.ast.2005.01.003

    Article  Google Scholar 

  • Montenbruck O, Andres Y, Bock H, van Helleputte T, van den Ijssel J, Loiselet M, Marquardt C, Silvestrin P, Visser P, Yoon Y (2008) Tracking and orbit determination performance of the GRAS instrument on MetOp-A. GPS Solutions

  • Pérez J, Agrotis L, Fernández J, Garcia C, Dow J (2006) ESA/ESOC real time data processing. IGS Workshop 2006, Darmstadt, Germany

  • Schaer S, Steigenberger S (2006) Determination and use of GPS differential code bias values. IGS Workshop, Darmstadt, Germany

  • Senior K, Ray J, Beard R (2008) Characterization of periodic variations in the GPS satellite clocks. GPS Solut 12:211–255. doi:10.1007/s10291-008-0089-9

    Article  Google Scholar 

  • Schmid R, Steigenberger P, Gendt G, Ge M, Rothacher M (2007) Generation of a consistent absolute phase center correction model for GPS receiver and satellite antennas. J Geod 81(12):781–798. doi:10.1007/s00190-007-0148-y

    Article  Google Scholar 

  • Warren DLM, Raquet JF (2003) Broadcast vs. precise GPS ephemerides: a historical perspective. GPS Solut 7(3). doi:10.1007/s10291-003-0065-3

  • Wu JT, Wu SC, Hajj GA, Bertiger WI, Lichten SM (1993) Effects of antenna orientation on GPS carrier phase. Manuscr Geod 18:91–98

    Google Scholar 

  • Zandbergen R, Ballereau A, Rojo E, Andres Y, Romero I, Garcia C, Dow J (2006) GRAS GSN near-real time data processing. IGS Workshop, Darmstadt, Germany

Download references

Acknowledgments

The following contributions are gratefully acknowledged: Near real-time and real-time clocks and orbits for the analyses have been contributed by AIUB, ESOC (via Eumetsat) and JPL (via Infoterra). The final orbits and clocks have been obtained from CODE and the ultra-rapid predicted orbits and clocks from IGS. The GPS data from the GRAS receiver on MetOp-A has been made available by ESA/Eumetsat.

Author information

Authors and Affiliations

  1. German Space Operations Center (GSOC), Deutsches Zentrum für Luft-und Raumfahrt (DLR), 82234, Wessling , Germany

    André Hauschild & Oliver Montenbruck

Authors
  1. André Hauschild
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. Oliver Montenbruck
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to André Hauschild.

Rights and permissions

Reprints and permissions

About this article

Cite this article

Hauschild, A., Montenbruck, O. Kalman-filter-based GPS clock estimation for near real-time positioning. GPS Solut 13, 173–182 (2009). https://doi.org/10.1007/s10291-008-0110-3

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s10291-008-0110-3

Keywords

Search

Navigation