Standalone Velocity Estimation Method for BDS Receiver Based on Improved ARUKF

<table class="figure-group"><tr class="fig-image" id="a"><td><object data="https://static-preview.hindawi.com/articles/mpe/volume-2019/7278190/figures/7278190.fig.004a.svgz" name="7278190.fig.004a" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(a) </b>Results of standalone velocity estimation in<i> x</i>-axis</td></tr><tr class="fig-image" id="b"><td><object data="https://static-preview.hindawi.com/articles/mpe/volume-2019/7278190/figures/7278190.fig.004b.svgz" name="7278190.fig.004b" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(b) </b>Results of standalone velocity estimation in<i> y</i>-axis</td></tr><tr class="fig-image" id="c"><td><object data="https://static-preview.hindawi.com/articles/mpe/volume-2019/7278190/figures/7278190.fig.004c.svgz" name="7278190.fig.004c" type="image/svg+xml"></object></td></tr><tr class="fig-caption"><td><b>(c) </b>Results of standalone velocity estimation in<i> z</i>-axis</td></tr></table>

<div>Velocity estimation results of ARUKF method using raw Doppler observation in the<i> x</i>-,<i> y</i>-, and<i> z</i>-axis.</div>

Mathematical Problems in Engineering

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Figure 4

Figure 4: Standalone Velocity Estimation Method for BDS Receiver Based on Improved ARUKF 