Performance Analysis of Position-Domain Hatch Filter

Motivated both by the efficiency of the Hatch gain compared to the Kalman-type gain and the advantage of position-domain filtering compared to range-domain filtering, this paper proposes a position-domain Hatch filter for differential kinematic satellite-based positioning. A theoretically rigorous proof is provided to show that the Hatch gain generates a white residual sequence and is more efficient than Kalman-type gain. It is also shown that the position-domain Hatch filter is more robust than the range-domain Hatch filter if the visible satellite constellation changes during the positioning task. A simulation result verifies that the proposed positiondomain Hatch filter performs better than conventional carrier-smoothed-code filters due to the advantages of both position-domain filtering and the Hatch gain.