Patent ID: 8400351

Claim:
A method of determining a position of an antenna of a GNSS rover from observations of GNSS signals collected at the antenna over multiple epochs and from correction data for at least one of the epochs, comprising: determining a first-epoch rover position relative to a first-epoch moving base location, determining a second-epoch update of the first-epoch rover position relative to a second-epoch moving base location using a single-differenced delta phase process, combining the first-epoch rover position and the second-epoch update to obtain a second-epoch rover position relative to the second-epoch moving base location, and for each of a plurality of subsequent epochs, determining a subsequent-epoch update and using the subsequent-epoch update to obtain a subsequent-epoch rover position relative to a moving base location of the subsequent epoch, wherein determining a first-epoch rover position relative to a moving base location is repeated at a first rate, and wherein determining a subsequent-epoch update is repeated at a second rate which is higher than the first rate.