Precise estimation of clock bias difference between multiple GNSS receivers for cooperative positioning

摘要: The use of raw-data from multiple GNSS receivers located in a closer vicinity is an emerging concept to enhance the positioning availability harsh environments, where number received measurements by one receiver are not enough compute position estimate. Within this modern navigation paradigm, different or users collaborate exchanging order be able estimate their locations together. However, cooperation between at level needs synchronisation produced these devices. main issue that clock bias and drift individual with respect GPS time predictable will produce large errors if problem difference taken into account collaborative processing. existing methods either values as part Position, Velocity Time (PVT) estimation algorithm eliminate them double difference. These approaches necessitate more additional each need have same satellites visible cooperating receivers. In paper, we suggest new approach timing compensation when degraded available dense urban environments. estimates used interpolate raw common reference time. proposed method inherently simple, robust allows us develop innovative algorithms for cooperative PVT estimation. To illustrate effectiveness method, present some results processing real data obtained using low cost commercial