Patent ID: 7911378

Claim:
A method for approximating a position using a GNSS system having a plurality of GNSS satellites and an augmentation system, the method comprising: (a) obtaining an initial code pseudorange measurement and an initial carrier phase measurement from a signal transmitted by a GNSS satellite in the GNSS system; (b) receiving at least one code correction from the augmentation system; (c) using the at least one code correction to correct the initial code pseudorange measurement and the initial carrier phase measurement to mitigate for errors in the signal, to result in a corrected code pseudorange measurement and a corrected carrier phase measurement; (d) using a code pseudorange dominated measurement in a filter which outputs a position and ambiguity estimate; and (e) repeating steps (a) to (d) until a stable filter output is achieved; and (f) thereafter using a carrier phase dominated measurement in the filter; (g) or proceeding from step (c) to step (f) if the filter output is stable after step (c).