Joint Navigation and Synchronization Using SOOP in GPS-Denied Environments: Algorithm and Empirical Study

摘要: We consider the problem of tracking a receiver using signals opportunity (SOOP) from beacons and reference anchor with known positions velocities, where all devices have asynchronous local clocks or oscillators. Based on an extended Kalman filter, we propose sequential estimator to jointly track location, velocity, its clock parameters time- difference-of-arrival frequency-difference-of-arrival measurements obtained SOOP samples collected by anchor. Field experiments are carried out software defined radio testbed, Iridium satellites as beacons. Experiment demonstrate that our measurement model has good fit, proposed can successfully both relative offset skew respect accuracy.