Positioning system for global navigational satellite system

A method for position estimation using a global navigational satellite system (GNSS) including a first receiver on a vehicle, a second receiver on the vehicle spatially separated from the first receiver over a predetermined distance, and a processor coupled with stored instructions implementing the method, wherein the instructions, when executed by the processor carry out steps of the method, comprising:

• measuring a first carrier phase of a carrier signal emitted by a satellite, wherein the first carrier phase includes a first carrier phase ambiguity as an unknown integer number of wavelengths of the carrier signal travelled between the satellite and the first receiver;
• measuring a second carrier phase of the carrier signal emitted by the satellite, wherein the second carrier phase includes a second carrier phase ambiguity as an unknown integer number of wavelengths of the carrier signal travelled between the satellite and the second receiver;
• determining an integer ambiguity difference between the first carrier phase ambiguity and the second carrier phase ambiguity from a difference in the measurements of the first carrier phase and the second carrier phase;
• detecting a multipath of the carrier signal based on a value of the integer ambiguity difference;
• rejecting the satellite from the position estimation when the multipath is detected;
• and otherwise estimating a position of at least one of the first receiver and the second receiver using at least one of a code signal and the carrier signal emitted by the satellite.

A non-transitory computer readable storage medium embodied thereon a program executable by a processor for performing a method for position estimation using a global navigational satellite system (GNSS) including a first receiver on a vehicle and a second receiver on the vehicle spatially separated from the first receiver over a predetermined distance the method comprising:

• measuring a first carrier phase of a carrier signal emitted by a satellite, wherein the first carrier phase includes a first carrier phase ambiguity as an unknown integer number of wavelengths of the carrier signal travelled between the satellite and the first receiver;
• measuring a second carrier phase of the carrier signal emitted by the satellite, wherein the second carrier phase includes a second carrier phase ambiguity as an unknown integer number of wavelengths of the carrier signal travelled between the satellite and the second receiver;
• determining an integer ambiguity difference between the first carrier phase ambiguity and the second carrier phase ambiguity from a difference in the measurements of the first carrier phase and the second carrier phase;
• detecting a multipath of the carrier signal based on a value of the integer ambiguity difference;
• rejecting the satellite from the position estimation when the multipath is detected;
• and otherwise estimating a position of at least one of the first receiver and the second receiver using at least one of a code signal and the carrier signal emitted by the satellite.