Comparison of GPS-Based Position Estimation Methods

This chapter is devoted comparison of stationary user localization estimation by traditional extended Kalman filter (EKF), linear Kalman filter (LKF), and NRM pre-processed LKF. In this study, Şükrü Saraçoğlu stadium’s location was estimated via various types of Kalman filters. Position states due to Earth-centered inertial (ECI) reference frame were obtained by the Global Positioning System (GPS) receiver. Pseudo-ranging model was used to determining the position of Şükrü Saraçoğlu stadium. To simulate GPS receiver, random measurement errors were added to the actual distance between the stadium and GPS satellite. In this study, various filters were compared for stationary user localization estimation.