Experience with the application of federated filter design to kinematic GPS positioning

The concept and equations for federated filtering are discussed. They have been applied to the treatment of GPS (Global Positioning System) pseudorange and phase data in a decentralized fashion for kinematic single point positioning. It has been found that, by selecting carrier phase as the reference filter and pseudorange as a local filter a judicious selection of the information sharing factor beta /sub j/, which proportions the kinematic system information between the reference phase filter and the local pseudorange filter.<>