Automatic Calibration of Process Noise Matrix and Measurement Noise Covariance for Multi-GNSS Precise Point Positioning
The Expectation-Maximization algorithm is adapted to the extended Kalman filter to multiple GNSS Precise Point Positioning (PPP), named EM-PPP.EM-PPP considers better the compatibility of multiple GNSS data processing and characteristics of receiver motion, targeting to calibrate the process noise matrix Qt and observation matrix Rt, having influen