[FOSS-GPS] Position modes in RTKPOST

[Tomoji TAKASU]

Dear Antonio

I don't know "least mean square". I may be
"least square".

> I think that a) and b) are not suitable to RTK positioning because of the
> ill-conditioning of the design matrix (very short observation time spans,
> frequently one solution per epoch). I'm I right?

Not right.
KF can handle only one epoch observations
(but usually has no meaning). LS or KF is just
a design selection.

> 1. RTKPOST "static" is like c.1)?
> 2. RTKPOST "kinematic" is like c.2) or c.3)?
> 3. And RTKPOST "single"? Is it LMS/WLMS?

In "single", RTKPOST uses weighted LS.
In other modes, RTKPOST uses EKF.

regards,

*********
Tomoji TAKASU

--------------------------------------------------
From: "António Pestana" <afsm.pestana at gmail.com>
Sent: Tuesday, November 01, 2011 6:48 AM
To: "Open Source GPS-related discussion and support" 
<foss-gps at lists.osgeo.org>
Subject: Re: [FOSS-GPS] Position modes in RTKPOST

> Dear Mr. Takasu an other list members:
>
>
> I am aware (not really aware, I've just heard off...) of the following
> solutions to the positioning problem we are dealing with (GNSS 
> positioning):
>
> a) Least mean square (LMS)
>
> b) Weighted least mean square (WLMS)
>
> c) Kalman filter
>
> c.1) static positioning: coordinates of the receiver are constants and the
> estimated clock offset of the receiver is white noise with zero mean
>
> c.2) kinematic positioning for high receiver velocity: coordinates and
> clock offset are modelled as zero mean white noise
>
> c.3) kinematic positioning for low velocity: the coordinates are modelled
> as a random walk
>
> I think that a) and b) are not suitable to RTK positioning because of the
> ill-conditioning of the design matrix (very short observation time spans,
> frequently one solution per epoch). I'm I right?
>
> If I'm right then it follows that in RTK we are using some sort of "Kalman
> filter" type solutions. And if we are using "Kalman filters" type 
> solutions
> then the following questions arise:
>
> 1. RTKPOST "static" is like c.1)?
>
> 2. RTKPOST "kinematic" is like c.2) or c.3)?
>
> 3. And RTKPOST "single"? Is it LMS/WLMS?
>
>
>
> Regards
>
> Antonio
>
>
>
> 2011/10/28 Tomoji TAKASU <ttaka at yk.rim.or.jp>
>
>> Dear Antonio
>>
>>
>>  Can anyone explain give me a brief explanation regarding the differences
>>> between the position modes options in RTKPOST? I am especially 
>>> interested
>>> in
>>> the following modes: Single, Kinematic, Static, Moving-base and Fixed.
>>>
>>
>> I think they are generally common terminologies
>> among GNSS positioning area except for "Fixed".
>>
>> So see the manual and search by Google.
>>
>> "Fixed" is special in RTKLIB. In the mode, the user
>> position is fixed to a priori values specified by user
>> options and other parameters like ionosphere,
>> troposphere are estimated. It is also used for the
>> analysis of measurement noise and multi-path with
>> residuals.
>>
>> regards,
>>
>> *********
>> Tomoji TAKASU
>>
>> ------------------------------**--------------------
>> From: "António Pestana" <afsm.pestana at gmail.com>
>> Sent: Saturday, October 29, 2011 3:34 AM
>> To: "Open Source GPS-related discussion and support" <
>> foss-gps at lists.osgeo.org>
>> Subject: [FOSS-GPS] Position modes in RTKPOST
>>
>>
>>  Can anyone explain give me a brief explanation regarding the differences
>>> between the position modes options in RTKPOST? I am especially 
>>> interested
>>> in
>>> the following modes: Single, Kinematic, Static, Moving-base and Fixed.
>>>
>>> Regards
>>>
>>> Antonio
>>>
>>>
>>
>>
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