Code and carrier phase based short baseline GPS positioning: computational aspects

A recursive least squares algorithm is presented for short baseline GPS positioning using both carrier phase and code measurements. We take advantage of the structure of the problem to make the algorithm computationally efficient and use orthogonal transformations to ensure that the algorithm is numerically reliable. Details are given for computing position estimates and error covariance matrices with possible satellite rising and setting. Real data test results suggest our algorithm is effective.This research was supported by NSERC of Canada Grant RGPIN217191–99, FCAR of Quebec Grant 2001-NC-66487, and NSERCGEOIDE Network Project ENV#14 for Xiao-Wen Chang, and by NSERC of Canada Grant RGPIN9236–01 for Christopher C. Paige.The online version of the original article can be found at