This chapter explains how to calculate the position, velocity, and time of a receiver.
This will include a presentation of the least-squares position and velocity solution
and an introduction to the extended Kalman filter (expanded on in Chapter 6)
navigation methods. Chapter 3 also assesses the issue of measurement geometry
and details the error sources with several examples.
A GNSS simulator has been provided on the DVD
that will allow the user to simulate unique scenarios on a global scale, providing
reasonably realistic raw measurements and navigation solution calculations (repeat-
able using MATLAB/Octave and Python scripts). This program includes a GNSS
constellation and receiver simulator that outputs a range of measurements under
user-defined environments, which can then be used in conjunction with postpro-
cessing scripts to duplicate the results presented in the text. This simulation can
also be configured to provide outputs in a format compatible with Google Earth
and to use time-tagged position inputs from FlightGear aircraft simulations.
GNSS Simulator Development Tools (Linux, MacOS, Windows)
GNSS Simulator NSIS Installer (Windows) (*see Additional Info for important fix)