The Multi-state Model Fusion Algorithm for GNSS Navigation

A novel fusion algorithm, termed as the multi-state model fusion filter (MSMF), was established for the global navigation satellite systems (GNSS) navigation. Firstly, a new state space model was presented by adopting the polynomial predictive idea and state dimension expansion. It was established without the knowledge of the original state dynamics, that is, no matter the original state propagation was known or not. Then two local estimation results were obtained based on the original model and the proposed model. Whereafter, the local results were fused to get the global estimation. The simulation results of the global positioning system (GPS) navigation verified the effectiveness of the proposed method.