Satellite navigation receiver with improved ambiguity resolution

A method comprising:

• calculating a float change vector as the difference of determined ambiguity values and float ambiguity values;
• forming a design matrix representing a single-differencing operation, the design matrix having the same row dimensions as the float change vector and the same column dimensions as a state vector of a float solution;
• computing a Kalman gain based on the design matrix and a covariance matrix of the float solution, using the float change vector as a constraint measurement;
• forming a state correction term based on the Kalman gain and the float change vector;
• forming a covariance correction term based on the Kalman gain, the design matrix, and the covariance matrix;
• calculating an ambiguity determined position estimate based on the covariance correction term;
• and
• updating a position of a satellite navigation receiver based on the ambiguity determined position estimate.

A method of transitioning a position solution related to a position of a satellite navigation receiver, comprising:

• determining whether the transitioning is needed, based on a transition condition;
• if the transitioning is not needed, storing a position difference offset between an ambiguity determined position solution and a float solution;
• if transitioning is needed, adjusting the position solution over a number of intervals from the ambiguity determined position solution to the float solution by an amount proportional to a previous difference offset until the position solution equals the float solution;
• and
• update the position of the satellite navigation receiver based on the position solution.

A method for determining a position of a satellite navigation receiver, comprising:

• determining estimated float narrow lane ambiguities of measured carrier phases associated with received signals from one or more satellites, based on estimated integer wide lane ambiguities and ionospheric-free float ambiguities;
• at a regular interval, determining a weighted sum of candidate narrow lane integer ambiguities for the measured carrier phases, based on the estimated float narrow lane ambiguities, using a modified best integer equivariant (BIE) process;
• during a search of the candidate narrow lane integer ambiguities, generating weighted sums of the candidate narrow lane integer ambiguities and a sum of weights, based on minimizing a mean-squared error (MSE) of the candidate narrow lane integer ambiguities and real valued parameters of a float solution comprising a state vector and a covariance matrix;
• calculating determined ambiguity values based on the weighted sums of the candidate narrow lane integer ambiguities and the sum of weights;
• forming a first constraint based on the determined ambiguity values;
• applying the first constraint to a first copy of the float solution to calculate a first ambiguity determined position solution comprising a first ambiguity determined position estimate;
• and
• determining the position of the satellite navigation receiver based on the first ambiguity determined position estimate.