Statistical Estimation of GNSS Pseudo-range Errors

Technology of satellite has many advantages over long instruments used nowadays and gives unparalleled precision compared to other systems. Nonetheless, it is full of problems related to the spread in the atmosphere, barriers in the receiving medium, the instability of the clocks used or the receiver's electronic noise of the errors that these phenomena cause may lead to inaccuracies of over to tens of meters. This paper describes methods for estimating the pseudo-range errors based on different statistical filtering. The Rao-Blackwellized filter has given interesting results comparing to the extended kalman filter, but the particle filter with kalamn filter proposal is much better than many other particle filtering algorithms.