Patent ID: 7961141

Claim:
A method of mitigating errors in satellite navigation measurements, the method comprising: at a satellite navigation receiver: receiving respective single-frequency signals from respective satellites in a plurality of satellites in a satellite navigation system; in the absence of differential corrections, calculating pseudorange and carrier-phase measurements corresponding to respective ones of the received single-frequency signals, including filtering the pseudorange and carrier-phase measurements in a Kalman filter having a state vector comprising a plurality of states, the plurality of states including a position state, a receiver clock state, and a plurality of bias states, each bias state corresponding to a respective satellite in the plurality of satellites, the filtering including updating the state vector; and updating an estimated position of the satellite navigation receiver in accordance with an update to the state vector; wherein a respective bias state in the plurality of bias states accounts for ambiguity, residual satellite clock bias, satellite orbital error, and ionospheric delay associated with a respective satellite in the plurality of satellites.