Abstract
A framework for positioning with low Earth orbit (LEO) satellite signals is proposed. The framework employs an extend Kalman filter (EKF) to estimate a receiver’s position using Doppler frequency measurements from LEO satellites. The satellites’ positions and velocities are known through two-line element (TLE) files. A receiver architecture to acquire and track LEO satellite signals and extract Doppler measurements to LEO satellites is discussed. Simulation results show that 11 m positioning accuracy can be achieved with 25 LEO satellites. Experimental results are presented demonstrating the proposed stationary receiver estimating its position using Doppler measurements from 2 Orbcomm LEO satellites with an accuracy of 360 m over a 1 minute period.