Simplified precise positioning engine (ppe) backward smoothing

A global navigation satellite system (GNSS) device for backward smoothing positions of the GNSS device based on delta carrier phase (DCP) values, the GNSS device comprising:

• a GNSS receiver;
• a memory;
• and
• one or more processors communicatively coupled with the GNSS receiver and the memory, wherein the one or more processors are configured to:
• determine a plurality of position estimates of the GNSS device for a plurality of epochs, the plurality of epochs spanning a period of time beginning with a first epoch and ending with a second epoch;
• determine position change values, the position change values comprising a position change value of the GNSS device for each successive epoch of the plurality of epochs based at least in part on DCP values for the plurality of epochs;
• perform backward smoothing on the plurality of position estimates, the backward smoothing comprising modifying at least a portion of the plurality of position estimates based at least in part on the position estimate of the second epoch and the position change values;
• and
• output information indicative of at least a portion of the modified position estimates of the GNSS device.

An apparatus for backward smoothing positions of a global navigation satellite system (GNSS) device based on delta carrier phase (DCP) values, the apparatus comprising:

• means for determining a plurality of position estimates of the GNSS device for a plurality of epochs, the plurality of epochs spanning a period of time beginning with a first epoch and ending with a second epoch;
• means for determining position change values, the position change values comprising a position change value of the GNSS device for each successive epoch of the plurality of epochs based at least in part on DCP values for the plurality of epochs;
• means for performing backward smoothing on the plurality of position estimates, the backward smoothing comprising modifying at least a portion of the plurality of position estimates based at least in part on the position estimate of the second epoch and the position change values;
• and
• means for outputting information indicative of at least a portion of the modified position estimates of the GNSS device.

A non-transitory computer-readable medium storing instructions for backward smoothing positions of a global navigation satellite system (GNSS) device based on delta carrier phase (DCP) values, the instructions comprising code for:

• determining a plurality of position estimates of the GNSS device for a plurality of epochs, the plurality of epochs spanning a period of time beginning with a first epoch and ending with a second epoch;
• determining position change values, the position change values comprising a position change value of the GNSS device for each successive epoch of the plurality of epochs based at least in part on DCP values for the plurality of epochs;
• performing backward smoothing on the plurality of position estimates, the backward smoothing comprising modifying at least a portion of the plurality of position estimates based at least in part on the position estimate of the second epoch and the position change values;
• and
• outputting information indicative of at least a portion of the modified position estimates of the GNSS device.