Patent ID: 11662476

Abstract:
A PVT calculation device includes a memory; and one or more processors in communication with the memory configured to perform operations including: receiving observations and ephemerides from satellites to obtain PVT data of the satellites and predicted PVT results of the receiver; setting up observation functions respectively corresponding to the satellites; calculating by a least square solution first estimated PVT results of the receiver based on the observation functions; iteratively eliminating by a Random-Sampling Iterative Kalman Filter (RSIKF) algorithm fault observation functions from the observation functions in an inner cluster until no fault observation functions detected in the inner cluster; calculating by the RSIKF algorithm a second estimated PVT results of the receiver using the observation functions in the inner cluster; and outputting final estimated PVT results of the receiver. The PVT calculation device may calculate the PVT results of the receiver with improved accuracy and stability.