<div>Dear Mr. Takasu</div><div> </div><div>Once again I must thank you for your patience and kindness. </div><div> </div><div>Regarding your answer to my questions:</div><div> </div><div>1. Yes, you are right: I mean "least square". </div>
<div> </div><div>2. By EKF are you referring to "extended Kalman filter"? I suppose that "extended Kalman filter" is KF applied to non-linear mathematical models. Am I right?</div><div> </div><div>Best regards</div>
<div> </div><div>Antonio<br><br></div><div class="gmail_quote"><blockquote style="margin: 0px 0px 0px 0.8ex; padding-left: 1ex; border-left-color: rgb(204, 204, 204); border-left-width: 1px; border-left-style: solid;" class="gmail_quote">
<div class="im">
<br>
<blockquote style="margin: 0px 0px 0px 0.8ex; padding-left: 1ex; border-left-color: rgb(204, 204, 204); border-left-width: 1px; border-left-style: solid;" class="gmail_quote">
I think that a) and b) are not suitable to RTK positioning because of the<br>
ill-conditioning of the design matrix (very short observation time spans,<br>
frequently one solution per epoch). I'm I right?<br>
</blockquote>
<br></div>
Not right.<br>
KF can handle only one epoch observations<br>
(but usually has no meaning). LS or KF is just<br>
a design selection.<div class="im"><br>
<br></div></blockquote><div> </div><div> </div><blockquote style="margin: 0px 0px 0px 0.8ex; padding-left: 1ex; border-left-color: rgb(204, 204, 204); border-left-width: 1px; border-left-style: solid;" class="gmail_quote">
<div class="im"> </div></blockquote><blockquote style="margin: 0px 0px 0px 0.8ex; padding-left: 1ex; border-left-color: rgb(204, 204, 204); border-left-width: 1px; border-left-style: solid;" class="gmail_quote"><div class="im">
<blockquote style="margin: 0px 0px 0px 0.8ex; padding-left: 1ex; border-left-color: rgb(204, 204, 204); border-left-width: 1px; border-left-style: solid;" class="gmail_quote">
1. RTKPOST "static" is like c.1)?<br>
2. RTKPOST "kinematic" is like c.2) or c.3)?<br>
3. And RTKPOST "single"? Is it LMS/WLMS?<br>
</blockquote>
<br></div>
In "single", RTKPOST uses weighted LS.<br>
In other modes, RTKPOST uses EKF.<div class="im"><br>
<br>
regards,<br>
<br>
*********<br>
Tomoji TAKASU<br>
<br>
------------------------------<u></u>--------------------<br>
From: "António Pestana" <<a href="mailto:afsm.pestana@gmail.com" target="_blank">afsm.pestana@gmail.com</a>><br></div>
Sent: Tuesday, November 01, 2011 6:48 AM<div class="im"><br>
To: "Open Source GPS-related discussion and support" <<a href="mailto:foss-gps@lists.osgeo.org" target="_blank">foss-gps@lists.osgeo.org</a>><br></div>
Subject: Re: [FOSS-GPS] Position modes in RTKPOST<br>
<br>
<blockquote style="margin: 0px 0px 0px 0.8ex; padding-left: 1ex; border-left-color: rgb(204, 204, 204); border-left-width: 1px; border-left-style: solid;" class="gmail_quote"><div><div></div><div class="h5">
Dear Mr. Takasu an other list members:<br>
<br>
<br>
I am aware (not really aware, I've just heard off...) of the following<br>
solutions to the positioning problem we are dealing with (GNSS positioning):<br>
<br>
a) Least mean square (LMS)<br>
<br>
b) Weighted least mean square (WLMS)<br>
<br>
c) Kalman filter<br>
<br>
c.1) static positioning: coordinates of the receiver are constants and the<br>
estimated clock offset of the receiver is white noise with zero mean<br>
<br>
c.2) kinematic positioning for high receiver velocity: coordinates and<br>
clock offset are modelled as zero mean white noise<br>
<br>
c.3) kinematic positioning for low velocity: the coordinates are modelled<br>
as a random walk<br>
<br>
I think that a) and b) are not suitable to RTK positioning because of the<br>
ill-conditioning of the design matrix (very short observation time spans,<br>
frequently one solution per epoch). I'm I right?<br>
<br>
If I'm right then it follows that in RTK we are using some sort of "Kalman<br>
filter" type solutions. And if we are using "Kalman filters" type solutions<br>
then the following questions arise:<br>
<br>
1. RTKPOST "static" is like c.1)?<br>
<br>
2. RTKPOST "kinematic" is like c.2) or c.3)?<br>
<br>
3. And RTKPOST "single"? Is it LMS/WLMS?<br>
<br>
<br>
<br>
Regards<br>
<br>
Antonio<br>
<br>
<br>
<br>
2011/10/28 Tomoji TAKASU <<a href="mailto:ttaka@yk.rim.or.jp" target="_blank">ttaka@yk.rim.or.jp</a>><br>
<br>
</div></div><blockquote style="margin: 0px 0px 0px 0.8ex; padding-left: 1ex; border-left-color: rgb(204, 204, 204); border-left-width: 1px; border-left-style: solid;" class="gmail_quote"><div><div></div><div class="h5">
Dear Antonio<br>
<br>
<br>
Can anyone explain give me a brief explanation regarding the differences<br>
<blockquote style="margin: 0px 0px 0px 0.8ex; padding-left: 1ex; border-left-color: rgb(204, 204, 204); border-left-width: 1px; border-left-style: solid;" class="gmail_quote">
between the position modes options in RTKPOST? I am especially interested<br>
in<br>
the following modes: Single, Kinematic, Static, Moving-base and Fixed.<br>
<br>
</blockquote>
<br>
I think they are generally common terminologies<br>
among GNSS positioning area except for "Fixed".<br>
<br>
So see the manual and search by Google.<br>
<br>
"Fixed" is special in RTKLIB. In the mode, the user<br>
position is fixed to a priori values specified by user<br>
options and other parameters like ionosphere,<br>
troposphere are estimated. It is also used for the<br>
analysis of measurement noise and multi-path with<br>
residuals.<br>
<br>
regards,<br>
<br>
*********<br>
Tomoji TAKASU<br>
<br></div></div>
------------------------------<u></u>**--------------------<div class="im"><br>
From: "António Pestana" <<a href="mailto:afsm.pestana@gmail.com" target="_blank">afsm.pestana@gmail.com</a>><br>
Sent: Saturday, October 29, 2011 3:34 AM<br>
To: "Open Source GPS-related discussion and support" <<br>
<a href="mailto:foss-gps@lists.osgeo.org" target="_blank">foss-gps@lists.osgeo.org</a>><br>
Subject: [FOSS-GPS] Position modes in RTKPOST<br>
<br>
<br>
Can anyone explain give me a brief explanation regarding the differences<br>
<blockquote style="margin: 0px 0px 0px 0.8ex; padding-left: 1ex; border-left-color: rgb(204, 204, 204); border-left-width: 1px; border-left-style: solid;" class="gmail_quote">
between the position modes options in RTKPOST? I am especially interested<br>
in<br>
the following modes: Single, Kinematic, Static, Moving-base and Fixed.<br>
<br>
Regards<br>
<br>
Antonio<br>
<br>
<br>
</blockquote>
<br>
<br></div>
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