System and method for satellite positioning

A method for determining a position of a mobile receiver comprising:

• receiving, at the mobile receiver, a set of satellite observations, the set of satellite observations comprising code data and carrier phase data, the set of satellite observations corresponding to a set of satellites, wherein the set of satellites correspond to a plurality of satellite constellations, wherein the set of satellite observations are measured during a time period;
• correcting the set of satellite observations based on a location correction received from a set of reference stations;
• while a residual value of each of a plurality of Kalman filters remains below an intermediate residual threshold, independently determining an integer ambiguity hypothesis at each of the plurality of Kalman filters, wherein each Kalman filter determines the respective integer ambiguity hypothesis based on a unique subset of the set of satellite observations, wherein the intermediate residual threshold is greater than a mutual residual threshold;
• determining that the residual value associated with each Kalman filter of the plurality of Kalman filters is less than the mutual residual threshold, wherein the mutual residual threshold is a threshold for differences between the Kalman filters;
• after each residual value falls below the mutual residual threshold, determining a converged integer ambiguity based on the respective integer ambiguity hypotheses;
• and
• determining the position of the mobile receiver based on the converged integer ambiguity.