Patent ID: 8456354

Claim:
A method for determining a position using a GNSS systems having a plurality of GNSS satellites and one or more augmentation systems, the method comprising the step of receiving signals transmitted by the GNSS satellites, and further comprising the sequential or non-sequential steps of: a) obtaining a direct code or a direct phase measurement, or both, from the GNSS satellite signals; b) generating a code measurement group by creating at least one code-based additional measurement; c) generating a phase measurement group by creating at least one phase-based additional measurement; d) generating an IFCP measurement group by creating at least one IFCP measurement; e) receiving at least one phase correction from a phase based augmentation system, and optionally, at least one code correction from a code based augmentation system; f) correcting one or more: a. at least one measurement from the code measurement group with a code correction to produce a pure code (PC) measurement group, or with a phase correction to produce a mixed code (MC) measurement group, or producing both a PC and a MC measurement group, or b. at least one measurement from the phase measurement group with a phase correction to create a pure phase (PP) measurement group, or with a code correction to create a mixed phase (MP) measurement group, or producing both a PP and a MP measurement group, or c. at least one IFCP measurement with a phase correction to produce a pure code phase (PCP) measurement group, or with a code correction to produce a mixed code phase (MCP) measurement group, or producing both a PCP measurement group and a MCP measurement group, or d. correct errors by error models; g) combining at least two different measurements selected from the measurement groups created in step (f) into code-dominated combinations and phase-dominated measurement combinations; and h) using one or more of a code-dominated combination in a filter which outputs a position and ambiguity estimate; i) repeating steps (a)-(h) until a stable filter output is achieved; and j) thereafter using one or more of a phase-dominated combination in the filter; wherein the code-dominated combinations comprise a code-dominated mixed combination, and optionally, a code-dominated pure combination; and wherein the code-dominated mixed combination comprises a measurement selected from the PC or MC measurement groups and at least one measurement from any of MP, PP, MCP or PCP groups, provided at least one measurement in the combination is selected from MC, MP, or MCP groups.