A Fixed-Lag Particle Filter for the Joint Detection/Compensation of Interference Effects in GPS Navigation
Interference are among the most penalizing error sources in global positioning system (GPS) navigation. So far, many effort has been devoted to developing GPS receivers more robust to the radio-frequency environment. Contrary to previous approaches, this paper does not aim at improving the estimation of the GPS pseudoranges between the mobile and the GPS satellites in the presence of interference. As an alternative, we propose to model interference effects as variance jumps affecting the GPS measurements which can be directly detected and compensated at the level of the navigation algorithm. Since the joint detection/estimation of the interference errors and motion parameters is a highly non linear problem, a particle filtering technique is used. An original particle filter is developed to improve the detection performance while ensuring a good accuracy of the positioning solution.