System and method for fusing sensor and satellite measurements for positioning determination

A system for determining a positioning solution of a body comprising:

• a body comprising:
• a magnetometer or an inertial measurement unit (IMU) comprising at least one of an accelerometer or a gyroscope;
• an antenna configured to receive satellite signals corresponding to one or more satellite frequencies associated one or more satellite constellations;
• and
• a processor comprising a fusion engine comprising an estimator configured to determine the positioning solution of the body based on IMU or magnetometer data measured by the IMU or the magnetometer and double differenced carrier phase information from a time difference of carrier phase (TDCP) module, wherein the estimator uses stochastic cloning to model displacements using the double differenced carrier phase information, wherein the TDCP module is configured to:
• select a subset of the satellite signals to generate a subset of satellite signals based on a quality of satellites associated with the satellite signals;
• select a reference satellite from satellites associated with the subset of satellite signals;
• apply an a-priori correction to the satellite signals associated with the subset of satellite signals to generated corrected satellite signals;
• determine the double-differenced carrier phase information from the corrected satellite signals by:
• determining differenced satellite signals between satellite signals associated with the reference satellite and each of the satellite signals associated with the remaining satellites;
• and
• determininge a set of time differenced satellite signals between the differenced satellite signals from a current epoch and a previous epoch.