Method for fusing multiple GPS measurement types into a weighted least squares solution

摘要

A method of calculating position data of a moving craft by fusing different types of measurement data, comprising transmitting Global Positioning System (GPS) measurement data from a GPS satellite constellation to the moving craft; computing position, velocity, and estimated wide lane phase ambiguity data by a reference location employing a weighted least squares algorithm; transmitting the computed data from the reference location to the moving craft; and combining the measurement data and the computed data by the moving craft to produce a relative vector solution between its own location and the reference location.