Estimate GNSS receiver position and velocity

Since R2021a

## Description

recPos = receiverposition(p,satPos) returns the receiver position estimated from the pseudoranges and satellite positions.

example

[recPos,recVel] = receiverposition(___,pdot,satVel) also returns the receiver velocity estimated from the pseudorange rates pdot and satellite velocities satVel.

[recPos,recVel,hdop,vdop] = receiverposition(___) also returns the horizontal dilution of precision hdop and vertical dilution of precision vdop associated with the position estimate.

[recPos,recVel,hdop,vdop,info] = receiverposition(___) returns information about the clock bias, clock drift, and time dilution of precision.

## Examples

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Use the receiverposition function to estimate a GNSS receiver position. Get the satellite positions and velocities using the gnssconstellation function. Generate pseudoranges from these positions using the pseudoranges function.

Specify a receiver position in geodetic coordinates (latitude, longitude, altitude) and a receiver velocity in the local navigation frame.

recPos = [42 -71 50];
recVel = [1 2 3];

Get the satellite positions for the current time.

t = datetime('now');
[gpsSatPos,gpsSatVel] = gnssconstellation(t);

Get the pseudoranges and pseudorange rates between the GNSS receiver and the satellites.

[p,pdot] = pseudoranges(recPos,gpsSatPos,recVel,gpsSatVel);

Use the pseudoranges to estimate the receiver position and velocity. The values close to your original receiver position and velocity used to generate the satellite position and pseudoranges.

lla = 1×3

42.0000  -71.0000   49.6730

gnssVel = 1×3

1.0010    2.0138    2.9987

## Input Arguments

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Pseudoranges between the satellites and receiver, specified as an n-element vector in meters.

Data Types: single | double

Satellite positions in the Earth-centered Earth-fixed (ECEF) coordinate system in meters, specified as an N-by-3 matrix of scalars. N is the number of satellites in the constellation.

Data Types: single | double

Pseudorange rates between the satellites and receiver, specified as an n-element vector in meters per second.

Data Types: single | double

Velocity readings of the satellite in the Earth-centered Earth-fixed (ECEF) coordinate system in meters per second, specified as an N-by-3 matrix of scalars. N is the number of satellites in the constellation.

Data Types: single | double

## Output Arguments

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Receiver position in geodetic coordinates, returned as a three-element vector of the form [latitude longitude altitude]

Data Types: single | double

Receiver velocity in the local navigation frame using north-east-down (NED) coordinates, returned as a three-element vector of the form [vx vy vz].

Data Types: single | double

Horizontal dilution of precision, returned as a scalar.

Data Types: double

Vertical dilution of precision, returned as a scalar.

Data Types: double

Information about clock bias, clock drift, and time dilution of precision (TDOP), returned as a structure containing these fields:

• ClockBias — Estimated bias error in receiver clock, in seconds.

• ClockDrift — Estimated drift error in receiver clock, in seconds per second.

• TDOP — Time dilution of precision.

## References

[1] Groves, Paul D. Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems. 2nd ed. GNSS Technology and Application Series. Boston: Artech House, 2013.

## Version History

Introduced in R2021a