GPS Satellite Surveying, 4th Edition

3.4 Static Parameters and Dynamic Constraints

The estimation problem is generalized by combining the cases described in Sections 3.2 and 3.3. We consider the dynamic system (3.3.1), which connects two sequential state vectors , and an extension of the measurement model (3.3.2),

3.4.1

The extended model incorporates time-varying parameter and a time-invariant -dimensional parameter . The matrix has dimensions by . Actually, we can formally assume a “very slow” dynamics for parameter , and write dynamics equations as

3.4.2

where the error is zero. The last requirement can be taken into account ...