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Mathematical Problems in Engineering
Volume 2009, Article ID 934524, 18 pages
Research Article

GPS Satellite Kinematic Relative Positioning: Analyzing and Improving the Functional Mathematical Model Using Wavelets

1Statistics Department, Maringa State University (UEM), Maringa, Brazil
2Cartography Department, FCT/UNESP, Presidente Prudente, Brazil
3Mathematics Department, FCT/UNESP, Presidente Prudente, Brazil

Received 21 October 2008; Revised 22 April 2009; Accepted 24 June 2009

Academic Editor: Dane Quinn

Copyright © 2009 Eniuce Menezes de Souza et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Although GPS kinematic relative positioning can provide high accuracy, GPS observables, like any other kind of measurement, are not free of errors. Indeed, they have several kinds of errors. In this paper, we show how to construct a functional mathematical model within the context of a Kalman Filter in order to eliminate most of these errors. Furthermore, we discuss how the multipath effect, a kind of error not modeled in the functional model, can be corrected using the proposed wavelet method. The behavior of the double difference functional model in the kinematic mode is also demonstrated and analyzed aiming to provide better insight into the problem. The results obtained from the multipath experiments were very promising and are presented here.