FIELD: radio engineering, communication.
SUBSTANCE: residual tropospheric delay and a plurality of residual ionospheric delays are modelled (unit 340) as states in a Kalman filter. The state update functions of the Kalman filter include at least one baseline length dependant factor, wherein the baseline length is the distance between a reference receiver and a mobile receiver (unit 340). A plurality of ambiguity values are modelled as states in the Kalman filter. The state update function of the Kalman filter for the ambiguity states includes a dynamic noise factor (unit 360 on dwg 3B). An estimated position of the mobile receiver is updated (unit 370) in accordance with the residual tropospheric delay (unit 372), the plurality of residual ionospheric delays (unit 374) and/or the plurality of ambiguity values (unit 376).
EFFECT: limiting distance dependant errors of real-time kinematic equipment of the global positioning system by estimating atmospheric error sources.
26 cl, 5 dwg
