According to the requirements in the paper, the longitude, latitude and altitude we need come from the GPGGA data in the GPS signal. So extracting these three pieces of information is mainly to sort out the data in GPGGA.
The data format of GPGGA is as follows:
Then about Kalman filtering, please refer to the paper I posted.
The code operation is as follows:
Click Latitude, Latitude Kalman, Longitude, Longitude Kalman, Altitude, Altitude Kalman, and get the following results:
