Alternative Approach to Integrate GNSS Doppler in Kalman Filter for Smartphone Positioning

This paper demonstrates an alternative approach that utilizes Global Navigation Satellite System (GNSS) Doppler measurement in a Kalman Filter (KF) to improve the accuracy of GNSS smartphone positioning. The proposed method automates the process of estimating the uncertainty of the dynamics model of the system, which is still a challenge for the conventional KF-based GNSS positioning methods that require heuristic tuning. Additionally, the paper also shows the advantages attained from automating the estimation of the motion/dynamics model for GNSS outlier detection or Fault Detection and Exclusion (FDE).