[mojoB]

I think this is a little misleading. The IEEE paper is about a reducing the computational effort for a filtering technique (Contemplative Real-Time) developed by one of the authors, which seems to be published here [1].

The original paper in compares the CRT approach to a more traditional Extended Kalman Filter (EKF) approach. The EKF is very efficient but it does trade of some accuracy, because it requires a linear approximation of the system to be used. Both the CRT and EKF are used to blend or fuse inertial measurement data with GPS.

To achieve the claimed centimeter-level accuracy requires a local (within ~20 miles) base station and a data connection to the base station to achieve the levels of accuracy being discussed. Depending on the quality of the GPS receiver there will be a few seconds up to 10s of minutes convergence period for the GPS filters to initialise.

The results presented in [1] show that using a moderately expensive (dual frequency, code tracking) GPS can approach (not exceed) the accuracy of a high-end GPS (dual frequency, code and carrier phase).

In summary, this is a interesting incremental improvement, not a huge breakthrough that's going to bring centimeter accuracy to cell-phone GPS tracking.

[1] https://scholar.google.com/citations?view_op=view_citation&h...

[madaxe_again]

In addition:

"Farrell said these requirements can be achieved by combining GPS measurements with data from an inertial measurement unit (IMU) through an internal navigation system (INS). In the combined system, the GPS provides data to achieve high accuracy, while the IMU provides data to achieve high sample rates and high bandwidth continuously."

I'd call that centimeter accurate positioning, but still metre resolution GPS.

Either way, it's a potentially useful advance.