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Time Varying Kalman Filter Processing to Predict the Future Errors of a GPS Receiver  M. H. Refan Assistant Professor, Department of Electrical Engineering, Shahid Rajaee Teachers Training University,Lavizan, Tehran 16788, Iran Refan@srttu.edu  M. R. Mosavi Ph.D. Student, Department of Electrical Engineering, Iran University of Science and Technology, Narmak, Tehran 16844, Iran M_Mosavi@iust.ac.ir  K. Mohammadi Associate Professor, Department of Electrical Engineering, Iran University of Science and Technology, Narmak, Tehran 16844, Iran Mohammadi@iust.ac.ir Abstract This paper presents a new method to predict the future errors of position components, by using the past error measurement of a GPS receiver. To achieve this, a time varying Kalman filter was applied. We fixed the receiver in a known position and calculated the position component errors. State-space equations were based on real position errors. These real and dynamic patterns of the errors were applied into time varying Kalman filter. The Kalman filter obtained with such real data predicts the later second’s errors. The steps of design and implementation of the time varying Kalman filter are presented and the experimental results of the tests are stated with real data. Results showed that predicted errors were neglectable, and model efficiency was quite satisfactory. |