| Summary: | This thesis is concerned with development and implementation of an efficient and numerically reliable positioning algorithm based on the combination of code pseudorange (C/A) and carrier phase (L1) measurements with cycle slip detection. === In GPS a typical technique for kinematic position estimation is relative positioning where two receivers are used, one receiver is stationary and its exact position is known, the other is roving and its position is to be estimated. We describe the physical situation and give the mathematical model based on the difference of the measurements at the stationary and roving receivers. The model we consider combines both code pseudorange and carrier phase measurements. We then present: a recursive least squares approach for position estimation. We take full account of the structure of the problem to make our algorithm efficient, and use orthogonal transformations to ensure numerical reliability of the algorithm. === At each epoch, possible cycle slips must be detected, otherwise it may significant deteriorate the positioning accuracy. A cycle slip detection method based on the higher-order difference technique, one of typical techniques for cycle slip detection, is developed and incorporated into the preprocess of our positioning algorithm. === Finally, real data testing for our positioning algorithm and cycle slip detection algorithm are performed. The results suggest our algorithms are very effective.
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