Method and apparatus for determining smoothed code coordinates of a mobile rover

摘要

Disclosed is a method for determining coordinates of a mobile rover. The method includes determining a vector of one-shot code coordinates of the mobile rover. The method also includes determining a vector of phase increments by determining full phase differences for each navigation satellite in a plurality of navigation satellites in view at a discrete time interval (called a time epoch) and at a previous time epoch in a plurality of time epochs. A vector of radial range increments is determined from the full phase differences. A vector of rover phase coordinate increments is also determined using the vector of radial range increments. The vector of one-shot code coordinates and the vector of rover phase coordinate increments are then filtered to determine, at each time epoch, smoothed code coordinates of the mobile rover. Measured phase increments are cleared up from abnormal measurements.