Position and Velocity Estimations of Mobile Device Incorporate GNSS

Today, the global navigation satellite system (GNSS) is usually integrated into smart mobile devices for necessary communication with the possibility of locating users accurately in the surrounding environment. In contrast to the traditional estimation approaches, this paper proposes a message passing algorithm for position and velocity estimations of the mobile device incorporate GNSS. First, the smart mobile device incorporate GNSS is modeled as a state-space framework. Then the message passing scheme is proposed considering the Bayesian tree structure. In this scheme, the messages are shifted between forward and backward nodes so that the estimation error is minimized. The simulation results show that the proposed algorithm provides significant performance improvement compared with the existing Kalman filter.