In this paper, we discuss unified methods of carrier-phase-based precise point positioning (PPP) as well as relative positioning based on novel GR equations (: GNSS Regression equations). GR equations were introduced such that a PPP algorithm were derived in [1, 2, 3]. The derived PPP algorithm achieved a positioning accuracy at the decimeter error level without any external information such as from WAAS[3, 4, 5]. In this paper, after introducing more precise GR models which contain the so-called receiver's and satellite's hardware delays [6], we extend our PPP algorithm to the positioning occasion of using multiple antennas. Very precise point positioning (VPPP) occasion using two or more PPP antennas with common clock errors and known receivers' distances is considered. Furthermore, we extend to the relative positioning occasion based on applying the GR equations such that we derive a new recursive relative positioning algorithm.
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