Consensus-Based Distributed Filtering for GNSS

Khodabandeh, A, Teunissen, P and Zaminpardaz, S 2018, 'Consensus-Based Distributed Filtering for GNSS' in Ginalber Luiz Serra (ed.) Kalman Filters-Theory for Advanced Applications, InTech, London, United Kingdom, pp. 273-304.

Document type: Book Chapter
Collection: Book Chapters

Title Consensus-Based Distributed Filtering for GNSS
Author(s) Khodabandeh, A
Teunissen, P
Zaminpardaz, S
Year 2018
Title of book Kalman Filters-Theory for Advanced Applications
Publisher InTech
Place of publication London, United Kingdom
Editor(s) Ginalber Luiz Serra
Start page 273
End page 304
Subjects Navigation and Position Fixing
Distributed Computing not elsewhere classified
Summary Kalman filtering in its distributed information form is reviewed and applied to a network of receivers tracking Global Navigation Satellite Systems (GNSS). We show, by employing consensus-based data-fusion rules between GNSS receivers, how the consensus-based Kalman filter (CKF) of individual receivers can deliver GNSS parameter solutions that have a comparable precision performance as their network-derived, fusion center dependent counterparts. This is relevant as in the near future the proliferation of low-cost receivers will give rise to a significant increase in the number of GNSS users. With the CKF or other distributed filtering techniques, GNSS users can therefore achieve high precision solutions without the need of relying on a centralized computing center.
Copyright notice © 2018 The Author(s). Licensee (
Keyword(s) distributed filtering
consensus-based Kalman filter (CKF)
global navigation satellite systems (GNSS)
GNSS networks
GNSS ionospheric observables
DOI - identifier 10.5772/intechopen.71138
ISBN 9789535138273
Version Filter Type
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