Patent ID: 8760343

Claim:
A method for resolving ambiguities in a global navigation satellite system comprising a first navigation receiver located in a rover and a second navigation receiver located in a base station, the method comprising the steps of: receiving a first plurality of measurements based on a first plurality of carrier signals received by the first navigation receiver from a plurality of global navigation satellites, the first plurality of measurements comprising a first plurality of pseudo-ranges and a first plurality of carrier phases; receiving a second plurality of measurements based on a second plurality of carrier signals received by the second navigation receiver from the plurality of global navigation satellites, the second plurality of measurements comprising a second plurality of pseudo-ranges and a second plurality of carrier phases, each carrier signal in the second plurality of carrier signals corresponding to a carrier signal in the first plurality of carrier signals, and each measurement in the second plurality of measurements corresponding to a measurement in the first plurality of measurements; calculating a plurality of single differences based on the first plurality of measurements and the second plurality of measurements; linearizing the plurality of single differences; determining an observation vector and an observation matrix based on the linearized single differences; filtering ambiguities based on the observation vector and the observation matrix, wherein the step of filtering ambiguities comprises the steps of: generating a Cholesky information Kalman filter; and performing a Householder transformation on the Cholesky information Kalman filter; estimating float ambiguities based on the filtered ambiguities; determining an integer ambiguities vector candidate based on the estimated float ambiguities; determining whether the integer ambiguities vector candidate meets fix criteria; and in response to determining that the integer ambiguities vector candidate meets the fix criteria, generating an estimate of integer ambiguities vector.