# A Decoupled Doppler Positioning Algorithm for Dynamic Receivers Using LEO Constellation Signals

## TL;DR

This paper introduces a new Doppler positioning algorithm for moving receivers using LEO satellite signals, achieving high accuracy even with no initial position information.

## Contribution

A novel least-squares algorithm decouples position and velocity estimation for dynamic Doppler-based positioning with LEO satellites.

## Key findings

- The proposed algorithm achieves meter-level position accuracy in dynamic scenarios.
- Velocity estimation reaches decimeter-per-second accuracy under high-speed motion.
- The method works robustly from a zero initial state.

## Abstract

The advancement of low-earth-orbit (LEO) communication constellations has revitalized interest in Doppler-based positioning. However, conventional Doppler positioning algorithms struggle with dynamic receivers under unknown initial states due to the inherent nonlinearity of the observation model. To address this challenge, we propose an improved least-squares-based algorithm that decouples the estimation of position and velocity, enabling robust positioning from a zero initial state. Simulation results demonstrate that the proposed method achieves meter-level positioning accuracy and decimeter-per-second velocity accuracy under various dynamic scenarios, including high-speed motion. This approach establishes a viable framework for real-time navigation in GNSS-challenged environments using LEO signals.