An Enhanced Satellite Positioning Algorithm Based on Height Smoothing with Speed

In order to improve the accuracy and continuity of satellite positioning, a combined filter is proposed to be designed and constituted by using a combination of height coordinate component and velocity component in this paper. User height is continually smoothed and revised to obtain a height coordinate of high precision, and thus forming a height constraint of measurement equations. And then, the accuracy of 3D positioning and receiver clock solution results could also be improved. Meanwhile, due to the high precision and favorable smooth texture of the height values after filter processing, they are especially suitable for fitting and extrapolation, and could help to assist the incomplete situation while the signal of GPS is lost and realize continuous 3D positioning. At last, feasibility and availability of the method are analyzed and verified by GPS positioning experiment.