Fig. 1. Schematic diagram of single station positioning principle

Fig. 2. Schematic diagram of target velocity measurement

Fig. 3. Flow chart of third-order finite difference outlier removal

Fig. 4. Speed calculation flowchart

Fig. 5. Comparison of distance measurement values with true values

Fig. 6. Comparison of first difference data before and after distance filtering

Fig. 7. Speed removal outlier test

Fig. 8. Comparison curve of all data before and after speed filtering with GPS true values

Fig. 9. Comparison of Speed Solving Methods with GPS Experiments