Cooperative positioning with multiple global navigation satellite system receivers

An apparatus, comprising:

• memory;
• at least one transceiver;
• and
• at least one processor communicatively coupled to the memory and the at least one transceiver, and configured to:
• determine an antenna baseline vector based on relative locations of a first antenna that is communicatively coupled to a first global navigation satellite system (GNSS) receiver and a second antenna that is communicatively coupled to a second GNSS receiver;
• determine a first position estimate and a first integer ambiguity resolution (IAR) status with the first GNSS receiver at a first time;
• determine a second position estimate and a second IAR status with the second GNSS receiver within a threshold time of the first time;
• determine a carrier phase value in the first GNSS receiver in response to the determined first IAR status being fixed and the determined second IAR status being float;
• and
• repair a cycle slip error in the second GNSS receiver based at least in part on the determined carrier phase value and the determined antenna baseline vector.

A method for generating a wrong fix indication based on measurements from multiple global navigation satellite system (GNSS) receivers, comprising:

• determining an antenna baseline vector based on relative locations of a first antenna that is communicatively coupled to a first global navigation satellite system (GNSS) receiver and a second antenna that is communicatively coupled to a second GNSS receiver;
• determining a first position estimate and a first integer ambiguity resolution (IAR) status with the first GNSS receiver at a first time;
• determining a second position estimate and a second IAR status with the second GNSS receiver within a threshold time of the first time;
• determining a horizontal offset value based on the determined antenna baseline vector and a difference between the determined first position estimate and the determined second position estimate;
• and
• generating the wrong fix indication in response to the determined first IAR status being fixed, the determined second IAR status being fixed, and the determined horizontal offset value being greater than a threshold value.