Enhanced gnss residual determination

A global navigation satellite system (GNSS) device comprising:

• one or more GNSS receivers;
• one or more memories;
• and
• one or more processors communicatively coupled with the one or more GNSS receivers and one or more memories, the one or more processors configured to:
• determine an integer double difference (DD) carrier phase (CP) ambiguity based at least in part on an initial set of one or more DD residuals, wherein the initial set of one or more DD CP residuals are based at least in part on:
• one or more CP measurements, performed by the GNSS device using the one or more GNSS receivers, of one or more GNSS signals, and
• an initial trajectory of the GNSS device;
• determine an updated trajectory of the GNSS device based at least in part on the integer DD CP ambiguity;
• determine an updated set of one or more DD CP residuals based at least in part on the updated trajectory of the GNSS device;
• and
• output a position of the GNSS device based at least in part on the updated set of one or more DD CP residuals.

An apparatus comprising:

• means for determining an integer double difference (DD) carrier phase (CP) ambiguity based at least in part on an initial set of one or more DD residuals, wherein the initial set of one or more DD CP residuals are based at least in part on:
• one or more CP measurements, performed by a global navigation satellite system (GNSS) device, of one or more GNSS signals, and
• an initial trajectory of the GNSS device;
• means for determining an updated trajectory of the GNSS device based at least in part on the integer DD CP ambiguity;
• means for determining an updated set of one or more DD CP residuals based at least in part on the updated trajectory of the GNSS device;
• and
• means for outputting a position of the GNSS device based at least in part on the updated set of one or more DD CP residuals.