Position-domain Hatch filter for kinematic differential GPS/GNSS

Motivated by the accuracy benefit of the Hatch gain compared with the Kalman-type gain and the advantage of position-domain (PD) filtering compared with range-domain (RD) filtering under frequent changes in visible satellite set, this paper proposes a PD Hatch filter for kinematic differential satellite-based positioning. It is shown that the Hatch gain generates white residual sequence in both the RD and the PD. An experiment result demonstrates that the proposed PD Hatch filter is advantageous in real-time kinematic positioning.