A new algorithm for generating carrier adjusted differential GPS corrections

This paper presents a new algorithm for generating differential GPS corrections. This algorithm directly uses code and carrier observations in the measurement model of a Kalman filter, so that it is possible to use a simple stochastic observation model and to use the standard algorithm of the Kalman filter. The algorithm accounts for biases like multipath errors and instrumental delays in code observations and it shows how differential corrections are differently affected by code biases when dual or single frequency data are used.