Highly Robust Cooperative Carrier Phase Positioning Method for Node Switching Scenarios

Carrier phase positioning is a high-precision technique that relies on continuous link connectivity for accurate phase measurements. However, in the cooperative positioning (CP) scenario, the terminal to be localized is in constant motion, the number and topology of nodes communicating with it will change, which will lead to discontinuities in the phase measurement as well as changes in the positioning accuracy. To address this issue, a highly robust cooperative carrier phase positioning is proposed for node switching scenarios. The method implements a cooperative carrier phase positioning algorithm based on Extended Kalman Filtering (EKF). When node switching occurs, the old EKF keeps iterating and a new EKF is created. The new EKF will replace the old EKF when the new EKF converges. The dual EKF algorithm can cope with fluctuation in positioning results due to node switching. The simulation results verify that the proposed algorithm can achieve high precision CP and maintain stability in the node switching scenario.