Advanced positioning with global navigation satellite systems (GNSS) using accurate satellite information

摘要

A method is provided for estimating parameters useful for determining the position of a Global Navigation Satellite System (GNSS) receiver or a change in its position. The method includes the steps of: obtaining (s10) at least one GNSS signal, receiving at the GNSS receiver of each of a plurality of GNSS satellites; Obtaining (s20) from at least one network node, precise satellite information regarding: (i) the orbit of at least one of the plurality of GNSS satellites, and (ii) a clock offset of at least one of the plurality of GNSS satellites; Identifying (s30) among the obtained GNSS signals, a subset of at least one GNSS signal that is possibly affected by a cycle slip, the identified subset being hereinafter referred to as a cycle set biased subset; and estimating (s40) parameters useful for determining the position of the GNSS receiver or a change in the position of the GNSS receiver using at least some of the obtained GNSS signals that are not in the cycle-skewed subset, and the precise satellite information.