az United States Patent Sharpe et al. 'US007071870B2 (0) Patent No.: (45) Date of Patent: US 7,071,870 B2 Sul. 4, 2006 4) os) @) o (32) 8) METHOD FOR COMBINED USE OF LOCAL POSITIONING SYSTEM AND A GLOBAL POSITIONING SYSTEM Inventors: Richard Sharpe, Torrance, CA (US) Frederick W. Neon, Wankee, 1A (US): Terence D. Pickett, Waukee, [A (US): Ronald R. Hatch, Wilmington, CA (US): Vanchun Yang, Harbor City CAS) Assignce: Naveom Technology, Ine, Tosrance, caus) Notice: Subject to any delaimer, the term ofthis patent is extended or adjusted under 35, USC. 1540) by 0 days, Appl. Now 1/181,810 Filed: Jul 13, 2008 Prior Publication Data US 20nS/0264444 A_—_Dee. 1, 2005, Related U - Application Data Continuation of application No. 10757,340, fied on 13, 208 Int. C1. HosB 785200601) Gots sad (2006.01) Us.cl $42/357.04; 4257.03 Field of Classification Search 342357.08, $2357.03 ‘See application file for complete search history 66) References Cited US, PATENT DOCUMENTS A 101994 Alison A ‘R109 Talbot ea 27968 A 102000 Ly {460.663 BI LO2ON2 Whitehead ea 792.380 BI 92008 Tan 3235703 OTHER PUBLICATIONS D, Lawrence et, Integration of wide area DGPS with local area kinematic DGPS, IEEE Position Location and Naviga tion Symposium, p. 523-529, Apr. 1996.* (Continued) Primary Examiner Thomas H. Tasca Assistant Examiner Pred H. Mall (74) Attorney, Agent, or Firm—Margan, Lewis & Bockivs UP om ABSTRACT The present invention includes a method fora combined use of a focal RTK system and «regional, wide-area, or global ‘ifferentalearier-phase positioning system (WADGPS) in ‘whieh disadvantages associated with the RTK and the WADGPS navigation techniques when used separately are avoided. The method includes determining a floating ambi tity value anda fit position of an object using WADGPS iva first mode of opemtion, and determining a second position ofthe objet using the local RTK system in a second ode of operation, 18 Claims, 7 Drawing Sheets \ Dasrrinefoabng anbinly vauo and rt poston of | 822 thet acon wit arar praca mestarements |” ting caren erent saa poatoning sytem ‘| ere Dalene foatng ambiguity vate maccorerce ‘it poison et foal retro acne | oe Deleminefosing abigail vise accordance io Known positon of abject ——_____4 _ (Drerrine fe poston lal vfeenceecaverin | 604 ‘accordance ih carrer hase measurements veg ‘earn erent site posting yer [Baarra por aPSaT eal elaronco TeoBWer) 606 in ozaranco wih he fest peiion ofthe eal [lerencerocever ends second predstamined [erm roatgoruoy [Determine second postion of the objectn accordance thes potion te jet ad he pean ‘testUS 7,071,870 B2 Page 2 (OTHER PUBLICATIONS “Report on overseas tavel", Sep. 2003, Porland, Oregon, ION 2008 Reports. doc, spocitialy p. 12, “bulle™ tem 5 ‘Fenny Sharpe, eal, “Exploiting the Synergies bericon TK and Wide Area dGPS Systems”, presentation from the Institute of Navigation, 16th International Technical Meet- ing, Portland, Oregon, Sep. 2008, , ross Correlation, snd Time Corl tion of GPS Phase and Code Observations." GPS Solutions, vol. 4, No. 2 pp. 3:13 (2000). Hatch, R, “Instantaneous Ambiguity Resolution,” presented 1S Symposivin 1990, Baatl, Cana, Sep. 1, 1990, FHoatch,R,, “The Synergism of GPS Code and Cartier Mea- surements;" Magnavox Goverment and Industrial Elec: tronics Company, Jan. 1982, Hwang, PY.C., “Kinematic GPS for Dilleretial Postion- ing: Resolving Integer Ambiguities on the Fly.” NAVIGS ‘TION: Jourual ofthe Institue of Navigation, vol. 38, No. 1, pp. 1-15, Spring 1991 Seareh Report for Intetatonal Patent Application No. PCT US2005/042374, International Filing Date Dee. 18, 2008 Walsh, D, “Real Time Ambiguity Resolution While on the “Move,” Proceodings ofthe Insitute of Navigation GPS.92, Washington, DC, Sep. 18, 1992, pp. 473-481 Yang, ¥, “Tiaily Integrated Atitude Determination Meth- fds for Low-Cost Inertial Navigation: Two-Antenna GPS and GPSiMagnctomete” Dissertation submitted to Univer- sity of Califomia, Riverside, Jun. 2001 * cited by examinerU.S. Patent Jul. 4, 2006 Sheet 1 of 7 US 7,071,870 B2 100 7 120 aw y 122 VW ie FIGURE 1US 7,071,870 B2 Sheet 2 of 7 Jul, 4, 2006 U.S. Patent cand ‘SUOTDaLIOD Sd) sjusuromnseayy SED aoe y21u 1967) aseg ered ssi sadavat og nding Jo/pue YLY “WaIskg ‘BuruoTysog [e907] 9st go asn onsi®auks X og mnduy 40} aunpa90id srl rs1 uoneoyddy sa og induy wosks SupesedQ - Arowayy og anduy vst wi] o_o ra A109 SIDUS 7,071,870 B2 Sheet 3 of 7 Jul. 4, 2006 U.S. Patent Ve qaNo Va sonjen AynBiquie Guneoy ay) anjoses ue (Mo aoueuer Jo) yBly AunBiquie Buneoy ayy Jo senjen souapyuco yes ose ose (| tes we 04 abuse ¥ stenpses 0192 @ni6 yoIyM senjen AinBiquie Bujeoy ue aindwog sjuewainseows aseyd-souseg jeonaioayy e aindwog ‘suojoe1i09 sdO wyshs 14 [290] Oy} Jo/pue We\sks Bujuonisod je00} ayy Bursn uonsod Jenleoas ayy ayepdn Ayjeonewoiny $e o0¢ ore uonsod umour, uy} 0} uoN'sod Janja0a1 18S Zuo}}e00] uMoUy & ye Aieuoyeys Janisoas s| ore NS oz. SBAUS 7,071,870 B2 Sheet 4 of 7 Jul. 4, 2006 U.S. Patent ae FANS __aintosae ue aindweg ee weysks SdOayM 4h Aq paulayep OZL Uone}s eouasaja ay) Jo UONISod aU, ue UoNeIS eouaraja1 au Jo UoR!sod yndut Joyesado ayy udenyag jesyo ay} 10 wayshs SdOAM ay} Aq pauluuajap ues 20uaiaja1 94} Jo UOKIsod ay} @nleoay SOyEUIpIOND UeISELED JONIGO8I SAD 4Jasn aly Jo uonisod 20U849}81 BU O} Jas ayy jo uonisod ey) aulUe}ep wersfs 414 [200] 24) Ul LoneIS ‘anneja4 senieoas 0} uojesedo 144 UuOped see waisks Lu ones souaiajes ip jo ‘uo}ISOd yndul Joyesedo enladay ee eeeUS 7,071,870 B2 Sheet 5 of 7 Jul. 4, 2006 U.S. Patent 7 FUND { f | DEP overs eousiejey w1y eunj0 sereuipi009 | 1 Atsnonunuos ————F suon = onn|os SADAWM « Oey suoHoevi09 SADGVM "wonmies Le GIF suowpanoo wiu’| 4 Peles0UeB sindino Ad « osp—, ~ uoysod sono001 1080 ‘ou0las rr — og 30 So}eup1009 « [ DEF uoneis eousrojeu yu 019 S0;eUp1009 2 omnes SOC _ Aq payesoueb syndino LAd > DEF suowen0o SaoavM | oneiedo DALY tn Aq pautuneyep 1881 Lohisod senteoa sasn aug Bursn Pauuuiarep ,AynBiqwe BuYeOL, » ovr. ' [ Dep uoners covers yu ou J0 SeleUIpI00D 21g yum aai62 ‘Asnonuquoo 02h suc 0 SSW | LUORNIOS 1d ‘q payesaus6 sindino 1Ad> OL suogoaui09 yy TOP voneig souaiajoy yy Jo UoNISog SOL anH Sdoavm, 021 uoneig eovarejoy Le Op 1lg0 10 sas) ‘araereny LY ‘1g HeNY LY uonesedo jo Buuuibog NS oorUS 7,071,870 B2 Sheet 6 of 7 Jul, 4, 2006 U.S. Patent s Wand zz bosUS 7,071,870 B2 Sheet 7 of 7 Jul. 4, 2006 U.S. Patent — 809 9 Wand yesyo uopisod ey pue 799/qo By) Jo UOHISOd ys1y OU} UA ‘souEps0008 U} 9/4 ay} Jo UONISOd pucoss eUILUEIEg (Wonisod nduy zoex6do ue "B'e) seneoes eouss9yed [290] 84) Jo uoAISOd Peuluueyepaid ‘puooes e pue Jenjeed 20u0/9}01 1290] 24) 40 UoN!sod ysuy 943 YM eOUEPIODIe UI Janlaoa1 20ualajel (200) 34) JO Jes{Jo UONISod aUIWEIEG L1one994 sou9/9}91 je00) Su 30 wesyo Vousoceumei2a) wiayshs Buluonsod 2 jales jenuasayip eaie-apym — __ Buisn sueweunseaw eseyd-seie0 yim eouepos0e 09 J) eouepioooe vio oo zo 1 J@N/9084 20U919}04 [e90} Jo UOH'SOd ys4y BUIUE}EQ eer aoa ss TT o0go JO UOHSOd UMOUY YA! nJeA AynBiqwie Bujeoy auuiayq waysks Buluonsod ayjayes jenuesayip eeue-epm Buisn — Siuswainseaw aseyd-seuseo yim eouepsoo9e ut yoelqo zoo J0 uogisod jsuy pue anjen AunBiqwie Bujecy eueyeq 009US 7,071,870 B2 METHOD FOR COMBINED USE OF LOCAL POSITIONING SYSTEM AND A GLOBAL POSITIONING SYSTEM (CROSS REFERENCE TO RELATED CASE. This application is «continuation of U.S. patent applice ‘ion Sor. No. 10757,340, ilod on Jan. 13,2004, the contents of which are herein incorporated by reference ‘TECHNICAL FIELD ‘The present invention relates generally to technologies associated with positioning and savigaton using satellites, ‘nd more particulary to resolving carer floating ambiguity ina regional, wide-area, or global carrier phase psikoning ‘andor navigation system, BACKGROUND OP THE INVENTION ‘The global positioning system (GPS) uses satellites ia space locate objects on ears With GPS, signals from the satellites ave at a GPS receiver and ate used to determine the position of the GPS receiver. Currently, two types of | GPS measurements corresponding to eaeh corelator chan- el with a locked GPS satelite signal are available for Civilian GPS receivers. The two types of GPS measurements are pseudorange, and integrated carrer phase fortwo carrier signals, L1 and L2, with frequencies of 1.5754 GHz and 12276 GHz, or wavelengths of 0.1908 m and 0.2442 m, respectively. The psoudorange measurement (or code mea surement) isa basic GPS observable that all types of GPS receivers can make, Itutlzes the C/A or Peades modulated ‘onto the carrie signal. The measurement record the appae- fet time taken for the relevant code t9 trvel from the Satelite to the receiver. Le, the time the signal arrives atthe receiver according tothe receiver elock minus the time the ‘Signal left the satellite according to the satelite clock. The fatriet phase measurement is obtained by integrating a reconstructed carrier of the signal as it arrives atthe receiver, Thus, the carrer phase measurement i also a measure of & transit time dilfereace as determined by the time the sig Jeft the satellite according to the satellite clock and the time it arrives at the receiver according to the receiver clock. However, because a initia! number of whole eycles in transit between the satelite and the receiver when the receiver stars tracking the carier phase of the signal is ‘usually not known, the transit time diffrence may be in errr by multiple carier cycles, i. there is a whole-eycle ‘ambiguity ia the carrier phase measurement ‘With the GPS meastrements available, the rouge oF dlistnoe between » GPS receiver and each ofa multitude of| satelite is caleulated by multiplying a signal’ trvel time by the speed of iat. These ranges are usualy refered 10 38 psendoranges (False ranges) because the receiver clock gen- ally has a significant time error whieh causes a common bias in the measured range, This common bis from receiver lock error is solved for along with the postion coordinates tf the receiver as part of the normal navigation computation. \arious other factors can alsa lead to errors or ive in the alelated range, including ephemeris error, satellite clock ming eror, atmospheric effets, receiver noise and mt path error. With stndalone GPS mavigaton, where a user ‘with @ GPS receiver oblains code andor caeierhase ranges with respect to a plurality of sitlites in view ‘without consulting with aay reference station, the user is very limited in ways to reduce the emors or noises in the ranges. 2 To eliminate or reduce these ercors, differential operations are typically used in GPS applications. Differential GPS (DGPS) operations typically involve a base reference GPS receiver, a user (or nivigation) GPS receiver, and a cont ‘munication link betwoon the uscr and reference receivers. The reference receiver is placed at a known location and the known postion i used to generate corrections sssocited With some oral of he above errr factors. The eorectons are supplied to the wser receiver and the user receiver then uses the comectons fo appropriately corre is computed position. The eorrections can be inthe Form of corrections 1 the reference recviver position determined tthe reerence site or in the form of eamections to the specific GPS satel clock andior orbit. Differential operations using earie- phase measurements are often referred to as real-time ke: matic (RT) postioninginavigation operations. The fundamental concept of Differential GPS (DGPS) is to tke advantage ofthe spatial and temporal correlations of the errors inherent in the GPS mevsuremens to cancel The noite factors in the pseudarange andlor camer phase mc ‘urements resulting fom these error factors However while the GPS satellite clock timing eror, which appears as i ‘on the psewdorange or carrer phase measurement, i per feet correlated between the reference receiver and the User receiver, most of the other err factors are either not correlated or the coerelation diminishes in wideares app cations, ic, when the distance between the reference ad User receivers bevomes lange. To overcome the inaccuracy of the DGPS system in ‘wide-area applications, various regional, wide-area, or gl bal DGPS fhereaher refered to as wide-area DGPS or WADGPS) techniques have been developed. The WADGPS includes @ network of multiple reference stations in com- ‘nication with a computational center or hub, Exrar coe rections are computed at the hub based upon the known locations of the reference stations and the measurements taken by thom. The computed error corrections are then transmitted to users via communiation lnk such a satellite, phone, or radio. By using multiple reference stations, WADGPS provides more accurate estimates of the error ‘Thus, a number of dlferent techniques have been devel coped to obtain high-accuracy diferatial navigation wsing the GPS carrierphase measurements, The technigue wih the highest accuracy is the RTK technique, which has a ‘ypieal accuracy of about one-entimeter In ord wo obtain that aceuraey, however, the whole-eyele ambiguity in the Afferent earrer-phase measurements must be determined ‘When the distance between the user receiver and the refer ence receiver (baseline distance) is short, the RTK technique is highly advantageous bocause in this ase, the whole-cyele smbiguty can be resolved not only securely ut aso quickly. On the other hand, when the hasslne distance is more than a few tens of kilometers, it may become impos- sible to determine the whol-cyele ambiguity and the normal RIK aceuraey eannat be achieved. Another limitation ofthe RIK technigue is that it requires a loeal radio Tink to be rintained between the reference receiver and the maviga- “The WADGPS techniques that employ a caner-phase differential method ean also achieve very high navigation scenracy. The WADGPS diferent technigues re also characterized by reliable long distance low-frequency con- ‘munication Hinks or by reliable satelite communication links. Thus, corrections ean generally be communicated navigation receivers without significant interruption. How lever the WADGPS techniques usually treat he whole-eycleUS 7,071,870 B2 3 ‘amiuites a a ral-valved (o0n-ineger) variable an solve Toe a “Moating ambiguity.” which is usually very poody ‘defined uatil measurement data covering & Sine interval of significant satellite geometry change have been obtained. ‘Thus, ina WADGPS application, a time interval as long as lone or two hours is often required to solve forthe “oating fmbiguty” in order to yield an accurvey of less than 10 ‘centimeter inthe navigated position SUMMARY OF THE INVENTION “The preset application includes a method for combining the uscof the RIK and the WADGPS navigation techniques 0 thi the weaknesses of each technigue ean be comple ‘monte by the srengths ofthe other technique. The primary Alisedvaniage ofthe WADGPS techoigus is thatthe navi tion receiver takes long elapsod time (often more than an hour) to detemnine the floating ambiguity values, which are required fo convert the carierphase measurements into tsocurate range measurements. The primary disadvantages oF 3 the RTK technique ar that it requires a real-time (normally line of site) data link between a user GPS receiver and a reference GPS receiver and thatthe whole-cyele ambiguity fan only be determined when the separation dlitance between reference GPS receiver and user Gi relatively shor, These separate disadvantages ean be removed by using the method for combining the use of the RTK and the WADGPS navigation techniques according to one embodi- sent ofthe present invention, The method includes using & known postion ofa user receive to initialize the floating ambiguity values in a WADGPS system, When the user receiver has been stationary, the known position of the user receiver may be a surveyed position ora postion obained Tom prior operation. When the user receiver is moving, the known location may be obtained using an RTK system. Thus, ina combined operation, when the communication link for the RIK navigation is availble, the positon, velocity and time (PVT) outputs of the user receiver can be ‘obtained sing the RTK system, while the WADGPS system ‘uns in the background ad its outputs are coastal ai- ‘alized wo agree with the outputs from the RTK system. ‘When the communication link for the RUK navigation is Jost. or when the user receiver Wanders too faraway from the reference station inthe RTK system, the PVT outputs ofthe user roosiver ean be obtained using the WADGPS system, ‘which hasbeen initialized while the RTR was operating. The initialization avoids the normal 15-minute 40 10. hour “pullin” time required to solve For the Noating ambiguity values when the postion of the user GPS receiver is cl known. This provides very accurate PVT solutions from the WADGPS system while the RIK system is unavailable oF insecure, and makes the WADGPS technigue more prac tial for realtime high-accuracy positioning and navigation purposes. [BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is lock diggram of combination of WADGES system and a local RT system according to one embod ment of the present invention, FIG. 2 is a block diagram ofa computer system coupled tw a user GPS recover. FIG. 3A isa flowchart illustrating a method for combining the use of the WADGPS gystem and the local RTK system. IG. 32 is flowchar illustrating @ method for updating «receiver positon using local RT system, 4 FIG. 4 is a Movschart illustrating 9 process flow for combined operation using both the WADGPS system and the local RTK system, FIG. $ is a diagram illustrating a situation in which the combined operation an be used. FIG. 6 is a flowchart illstrating a process flow for combined operation using both the WADGPS systems and the Tocal RTK system, DESCRIPTION OF THE INVENTION IG. 1 illustrates @ wide-area or global differential GPS (WADGPS) system 100 according to one embodiment ofthe present invention. As shown i FIG, 1, the WADOPS system 100 includes aetwork of reference sations 120” each having 2 GPS receiver 122, and one or more processing bubs 108. The reference stations 120 continuously provide raw GPS observables to the ub 105 for processing. These observables inelude GPS cade and cartier phase mieasire- ‘mens, ephemerides, and other information obtained accor ing wo signals received froma plurality of saelites 10 atthe reference stations 120, The reference stations 120 are placed at Kowa locations across a wide area 101, such a5 a continent, fora wide-area DGPS system, or across the globe for a global DGPS network, The hubs 108 are facilities at whieh the GPS observables are processed and DGPS eoe- rections are computed, If mule independent hubs are provided, its preferred that they are geographically sepa fated and operate in parallel, ‘The WADGPS system 100 may be utilized by one or mone twsers (or user deviees or objects) 140 each having a user GPS receiver 142 for positioning andor navigation par poses. In one embodiment ofthe preset invention, the user 4140 is associated with a nearby reference station 120 through a RTK radio link sch tat the user receiver 142 ad the nearby reference station 120 forms a local RT system 150, System 100 farther includes conventional data Finks (0 shown) for providing reliable transport mechanisms for the GPS observables to be sont from the reference stations 4120 tothe hubs 108 and foe the computed corrections w be broadcast from the hubs 105 to the refereace stations 120 snd the users 140. A continental WADGPS system sally has about 3 to 10 reference receivers anda global WADGPS system usually fas about 20 to 100 relerence receivers ‘Reding data to the hubs 108, In one embodiment of the present invention, the GPS observables are seat from the reference stations 120 tothe hubs 108 via the Intemet, and ‘compute! corrections are sent also via the Internet from the hubs one or more land stations (aot shown) t Be uplinke tw one more saelites (aot shown), which thea broadest the computed corrections for receipt by the reference stations 120 and the wser receiver 142, In one embodiment ofthe preset invention, the user oF object 140 is albo equipped with a computer system 144 coupled tothe user GPS receiver 142. As shown in FIG. 2 comipiter system 144 includes 8 centr processing unit (CPU) 146, memory 148, one or more input ports 184, one ‘9 more output ports 186, and (optionally) a user interface 4158, coupled to eaeh other by one oF more communication buses 182, The memory 148 may include high-speed ra dom access memory and may include nonvolatile mass storage, such as one or more magnetic disk storage devices or sh memory devices ‘The memory 148 preferby stores an operating system, 162, GPS application procedures 164, and a database 170. The GPS application procedures 164 may inchide proce- dures 166 for earying out method 300 for combining theUS 7,071,870 B2 5 use ofthe local RTK system 180 and the WADGPS system 160, as described in more desl below. The operating system, 162 and application programs and procedures 168 sored in memory 148 are for execution by the CPU 146 of the computer system 144, The memory 148 preferably also Sores data structures used during execution of the G "pplication procedures 164, including GPS poeudorange and carrier phase measurements 168, GPS. corections 172 received! from the hubs, as well as other data steactures tisenssed in this document. “The inpat ports 184 are for receiving data from the GPS receiver 142, for receiving information ftom the reference Station 120 inthe local RTK system 120 via a rai ink 124, fnd for receiving GPS comctions and other information Tom the hobs 105 vi a stelle Tink 107. The ouipt port 186 is used for ouputing data to te reference station 120 via the radio Tink 124. In one embodiment ofthe present invention, the CPU 146 and the memory 148 of the com puter system 144 are integrated with the GPS receiver 142 Ino a single deviee, within a single housing, as shown in FIG. 2. However, such integration is not required to carry ut the methods of the present invention, “Thowefor, the user oF objoet 140 may engage in wo Aitferent modes of operation ether simultaneously oe at iferent times. The user or objet 140 may operate in a WADGPS mode in which the user or object 140 positions itself or navigates using the WADOPS system 100, and/or in ‘RIK mode in which the user or object 140 postions tel ‘rnavigates using the locel RIK system 180, Whea the wser ‘robject 140 js closet the reference sation 120 with which * itis associated and the rio Tink between the user or object 140 ani the reference sation 120 can be maintained, the wer can use the local RIK system 180 to position itself with respec o the reference sation 120. The local RT system 150 is more advantageous than the WADGPS system 100 in, that itis more accurate and that the whole-cyele integer ambiguity can be quickly resolved, as explained in the following. ‘Using the local RK system 150, when measurements sre taken wit respect to nstelites 110 in view ofthe reference GPS receiver 122 and the associated user GPS receiver 142, the measurements ean be used wo solve forthe position ofthe user or object 140 according to the following equation in ray fonnat (wannictton, w where VoD-[V9, Vis... Vg” is cartier phase measure- ment vector formed by the diferenial eater phase mea surement with respec fo cach of the a satellites 10,.N-[N, Nz. NI? ie am integer ambiguity vector formed by the Aiferentisl integer ambiguity associated with eaeh of the ‘iferental cane phase measurements in the eaeier phase measurement vector, H-fhy hp. «I,J! i a measurement Sseastvity matrix formed by the unit Vectors From the user brobject 140 to then satelies 10, xis eal unknown state vector (or real vector) including a positon vecter from the feference station 120 to the wer of object 140 in the local TK system 150, and ny-Iny, ty -- Np” is measurement noise vector (or phase tangs residual Wéetor) formed by the ‘iferentalearir ease noise with respect each ofthe satelites 10, To solve for the real vector x using Equation (1), the integer ambiguity veetor N needs to be resolved. Many diferent methods have boea developed to resolve the integer ‘mbiguity values included inthe integer ambiguity vector N fad these methods typically use a search process to find a 6 ‘combination of integer ambiguity values tat satis certain ‘minimum non ofa measurement resid evant o where dy is a phase range residual vector comesponding 19 a candidate integer ambiguity vector N including the com- bination of integer ambiguity values, and € isa least squares solution of Equation (1), {sa measurement covariance matrix fomed by 0, which is standard deviation of the diferential carrier phase noise taleuated using conventional methods. An example of The ‘methods for calculating o, can be found in “Precision. Cross Corvelation, and Tine Correlation of GPS Phase and Code Observations” by Peer Bona, GPS Solutions, ol. 4, NO. 2, 2000. p.3-13, orin “Tigtly megrated Atinde Deter ination Methods for Low-Cost Inertial Navigation: Tivo= ‘Antenna GPS ated GPS’Magnetometer." by Yang, Y, Ph.D. ssetation, Dept. of Electrical Engineeting, Univesity of California, Riverside, Cait June 2001, both heeeby incor: porated by reference. ‘thee examples of the search methods ean be found in “Instantaneous Ambiguity Resolution,” by Hate Rin the Proceedings of the KIS Symposium 1990, Banff, Canada, ‘which s incorporated herein by reference, and in commonly ‘owned patent application for “Fast Ambiguity Resolution for Real Time Kinematic Survey and Navigation,” patent appi- cation Ser. No, 10/338,264, which is also incorported herein by reference ‘With he inteuer ambiguity resolved, the positon, veloeity and time (PVT) ofthe user receiver 142 can be accurately ‘computed as stutons of the loc RTK system 180 Inspite ofits many advantages, the local RTK system 180 ‘may’ not be available to the vse oe objet 140 a ll times because the user may move ta location tht is too fr from the reference sation 120 of is out of site ofthe reference ation 120 so thatthe radio link 124 betwoen the user oF object 140 and the rferenoe station cannot be maintained. In these situations, ionospheric induced ertor eannot be satis fctorly removed by taking into account the difference berwoon measurements atthe user oe objeet 140 and a the reference sition 120, This mor alfets the above search process for the integer ambiguity vector Beeause it causes Teasurement residuals included inthe measurement residual vector Ag to inrease. “Therefor, in situations where the local RTK system 150, js not available or has lost ie accuracy duc to 2 large Scparation between the user GPS receiver and the reerence Staton, the user may need to operate in the WADGPS mode in which «different approach fo resolving intoger ambiguity js used. Using the WADGPS system 100, each whole-eyele tmbiguity is estimated as a real-valued (non-integer) vari able. This practice i offen refered to as detennining aUS 7,071,870 B2 7 “foatng ambiguity” valve, One method foe determining the “floating ambiguity” Value involves the formation of reese don corrected code and carier-phase measurements based fn iw OPS measurements taken at the user of object 140, the scaling of the carrer-phase measurements to the same ‘unis as the eode measurements, and the subtraction ofeach scaled cariee-phase measurement fom the eomesponding code measurement to obtain an ost value. In one embodi- ment ofthe present invention, the reffaction-corrected code measurement, designated a Pac, is formed as follows i 6 re= gh = ah en mses Po where Py and P, are the raw pseudorange code measure ‘ments on the LY and L2 frequencies f, and f, respectively, ft particular measurement epoch, The refncton-comrected farrier phase messurement, designated a8 Ic. is formed similarly as follows where L, and L, ar the carier-phase measurements scaled by the wavelengths ofthe L1 and L2 signs, respectively, and each includes an approximate whole-cycle ambiguity ‘Value datas been added to ease the seal carier pase ‘measurement to he close to the same valve as the cor: sponding code measurement. Thus, Lette o Lei o ‘where and gs are the raw cartce phase measurement on the L1 and 12 frequencies, respectively, atthe same me- surement epoch, and the whole-eyele values of N, and Ny have been initialized at the start of earvier-phase tacking by the user or object 140 to give values tht ere within one carrier wavelength ofthe corresponding code measurements 0-as to keep the differences between the scaled eaice phase measurements and the corresponding code measure ‘nents small. From the form of equation (7), iis noted that the refraction corected carrier phase measureaient ineludes ‘awholeyele ambiguity witha wavelength 3. determined by the sum of f, and f (which is about 2803 GHz), so that is approximately 0.1070 meters (ie, e+) Because the ionospheric effets have been removed from bot the code und carrer phase measurements according 10 Equations (6)-() andthe effets of satelite clock and orbit crore on the pseudorange and carice-phase measurements far the same, the values of Py ad Loblained in step 310 should be almost identical except forthe possible whole yele ambiguity associate withthe earrierphase measiee- ment Lqc aid the higher multipath noise inthe eode mea- surement Pc. This allows the resolution ofthe whole-eyele ambiguity it Lge by smoothing an offset (O-Pge-Lige) between the reffaction corected code measurement snd the refraction corrected carrer-phase measurement across a ‘eros of mensurement epochs so that the offset becomes st increasingly accurate estimate of the “floating ambiguity.” ‘The smoothed offset value ean be further adjusted by using postlix measurement residuals to provide an adiitonsl 8 carier-phase measurement adjustment sue thatthe adjusted measurement residuals ave near 22. Tone embodiment of the present invention, the offs is smoothed by faking an expanding average of the ollet a allows where 1, 2,3, i used to designate a measurement epoch, andthe valve of sa confidence value that increases 8-0, becomes a more accurate estimate of the Noa fmbiguity valve. In one embodiment of the present inven tion, 1 is eal toi util a maximum value of averaging is stained, For example, if the carier-phase measurement is assumed t have only Yio." of the noise of the code measurement, the value of "x would be limited to be less than 100 squared. or 10,000. Fguation (9) ean thus be recursively computed until a predetermined accuraey of the ‘ating ambiguity vale is reach With the smoothed offset O,, a. smooth refraction corrected ende measurement, S, can be obtained by adding the relroction comected carer phase measurement for the current measurement epoch (othe smoothed offset, 0 that wich has the accuracy of the carrerphase messurement but without the associated ambiguities. The above prooess as describe in association with Equa tions (6) (11) is performed for each of a plurality’ of satel- ites in view of the user GPS receiver 142. With the ‘smoothed refraction-corrected code measurement available for each of the plurality of satellites in view ofthe user GPS receiver 142, the pseadoranges (0 these satellites can be hisined, “These pewlonnges are adjusted with the WADGPS coerections received fom the fds 105 and are used in a weighted feast squares fix to calculate the sate vector x. This way, the position, velocity and time (PVT) of the user GPS receiver 142 can be computed as WADGPS solutions for the PVT of the user GPS receiver 142, ‘Other examples ofthe methods 1 abined the smoothed, refraction corrected offsets ean be found in “The Synergism ff Cade and Carrer Measurements," by Hatch, R. i the Proceedings ofthe Thied Intemational Gendtie Symp on Satelite Doppler Positioning, DMA, NOS, Las Cruces, NM, New Mexico State University, Vol. 11, pp. 1213-1232, which is incorporated herein by reference, and in commonly ovned patent application for a "Method for Generating Clock Corretions for 2 Wide-Area oe Global Differential GPS System.” U.S. patent application Ser. No, 10/630,302, which is also incorporated herein by reference, Tt is also possible to solve for the “oating ambiguity” values as separate slates in least-squares of Kalman fer solution. When the ambiguities are included a states, an mate value for each floating ambiguity value is adjusted socording to a variance 40 that it becomes increasingly urate as the geometry of the system changes dic 10 Satelite motion. Thus, this technique also yells an increas ingly accurate estimate over time. See Patrick H.C. Hivang’s paper in Navigation Vol. 38, No. 1, Spring 1991, led "Kinematie GPS for Dilfereatal Positioning: Revol Jing Integer Ambiguities on the Fly.” which i incorported herein by reference There ate many combinations and variations ofthe above techniques which can be used (0 estimate the “oat ambiguity” values, However, all of them involve proces dita over a significant time interval, The time interval can often be as fong as one or two hours before one ean beUS 7,071,870 B2 ‘confident that the “oating ambiguity” is accurate enongh to Yield an seeursey of less than 10 centimeters in the navi- tated postion of the user 140. To shorten the time interval {or obtaining the “floating ambiguity” values, the WADGPS system cat be initialized ax described below using a know Tocation ofthe user GPS receiver 142 FIG. 3A iTlustates method 300 for initializing the WADGPS system 100. As shown in FIG. 3, method 300 includes a step 310 in which itis determined whether the User i sationary at/a Known location, This ean be done socording to user input o va some conventional mechanism that allows dhe computer 4 to determine whether the wser receiver 142 has been stationary. If the position ofthe user receiver 142 js accurately know, that postion can be used ‘© compute the floating ambiguity values without the asss- tance of the local RTK system 180, as explained in more detail below. A Surveyed postion of the user GPS receiver 142 could be wsed as the known position, or in some environments, the position may be known simply because the user or object 140 has been stationary ad the user position as already boon determined ducing a prior oper Son. Inresponse tothe deemination that he user is stationary at known location, methed 300 proceeds to a step 320 in ‘which the user receiver positon i eto the known foeation. (Otherise, method 300 proceeds toa step 330 in which the local RIK system 180 is enabled to automatically update the user locaton using the method discussed above ‘Method 200 further includes a step 340 in whieh the user receiver location, whether itis determines in step 320 or step 430, is used to compute a set of theoretical ranges to the ‘atelites 10, This may involve computing the positions of| the satellites 110 based on the broadcast ephomeredss from the WADGPS system 100 and adjusting those sitions by the orbital corrections broadcast by the WADGPS system 100, Given both the user receiver positon and the satellite positions in Cartesian coordinates, the theoretical range fom the user 140 to cach satellite 110 can be computed as {allows where subscript $ designates the satellite coordinate and subscript u designates the user or object receiver coordinate ‘Matha! 300 furterinchades a step 380 in which the initial ‘ating ambiguity value, a coeresponding o each satellite is calenlated by subtacting from the computed theoretical range the range obained from the refraction-corected eae rersphase measurement with respect to the same satelite so that, one on where L® pc represents the refietion-corectd carier- phase measurement computed according to Equation (7) at a beginning measurement epoch. ‘Method 300 further includes a step 360 in whieh the ‘ating ambiguity values are resolved by adding the initial floating ambiguity values tothe corresponding refraction corrected camier-phase measurements in subsequent me surement epocts, nd by treating the Noating ambiguity values as well now 0 thatthe confidence i et to hgh (or the variance is set 10 ow). In practice, step 360 is accomplished by using 2 small value of gain to adjust the Hating ambiguity values in a 10 process for determining the floating ambiguity values, For example, ithe Neating ambiguity values are determined by smoothing the offset between the refration-corected code measurement and the relractioncorected carier- phase measurement scoring to Equation (9a small gin means treating the Noating ambiguity value as ia large number of offct values have been used in computing it so that ya Tange number). Ifthe ambiguity value js determined ina Kalinao iter process small gin is achieved by setting the variance of the ambiguity state t a small value “Ths, by using the known location of a sation’ user receiver 142, oF by using the local RTK system 180 10 Initialize the Hating ambiguity values, a normal fifton inate to twa hours of pullin” ime required to solve for the floating ambiguity values when te usr receiver positon js not known is avoided. This can greatly speed up the process. for resolving catie-pise ambiguities in the WADGPS system 100, making the WADGPS system 100 ‘ore suitable for real-time positioning and/or navigation Purposes In one to use the local RIK system 150 to update the wer receiver positon in the method 300, the position of the feference sation 120 in the local RTK system 180 must be ‘determined accuracely” in the WADGPS system 100. conventional RTK system can be used in relative sense, ‘meaning tht the positon of the user receiver 142 ean be determined relative to the reference revciver. This way, snocurate relative positions of the user GPS receiver 142 can be oblained even though the coordinates ofthe reference ation are not particularly secure and coordinate data ther than the normal GPS data are used 10 position the reference station. For the combined use of the local RIK system 180 and the WADGPS system 100, however, an absolute positon ofthe reference receiver 120 in the RIK system 180 needs fo he detennined. Ifa incorret positon js used for the reference sation 120 inthe local RIK system 4150, it wll cause the floating ambiguity values computed as described above tobe incorrect. This wil lead ta slow drift of the computed positon of the user receiver 142 a the Footing ambiguity values ee lowly adjusted tothe corect value during subsequent WADGPS processing In one embodiment of the present invention, a mean position of the reference station 120 in the RTK system 150 Js determined based on hours of positioning data fom the WADGPS system 100 for increased reliably. In an ake native embexliment, a computer system at the reference Savion 120 sccepis an operator inpit valve for is positon ‘and provides the position to the user 140. This allows the relative RTK positioning to commence immediately vsi that reference position. At the sume time, a more accurate position of the erence station 120 is determined by the WADGPS system 100 an is transmitted to the reference station 120. This more accurate position or an offset hereon the operator inpt positon and the more accurate position of the refereace station 120 determined by the WADGPS system 100i then insite st relatively Tow rate to The ser 140. IG. 32 illustrates in more detail step 330 in the method 300 in which the wser position is updated wsing the local ERIK system 150, As shown in FIG. 4B, step 330 inchodos 2 substep 331 in which the user or object 14D receives the ‘peraibr input position ofthe reference station 120 inthe RIK system 150, and a substep 383 in which the usee or object 140 performs local RTK operation to determine its town position relative to that of the reference station 120. ‘Step 330 Further inclades substep 338 in which the user oF ‘object 140 receives the more acerate positon ofthe referUS 7,071,870 B2 " ence station 120 determined by the WADGPS system 100 or the offset Between the operator input postion of the ree fence sation 120 and the more accurate position of the reference station 120 determined by the WADGPS system 100, Step 330 farther includes a substep 397 in which the User orabject 140 computes an absolute position ofthe user GPS receiver 142 in Cartesian coordinates using citer the user input position of the reference station or the positon of the reference station 120 determined by: the WADGPS system 100 (if availble, “Anexample where henclits could he obtained by sing the ‘method 300 isin positioning a rain. When a tain pases through a tunnel, both the local RTK link and the global |WADGPS link would be lost. In this situation the RTK data fink can be set up 10 initialize the WADGPS. Aoating ambiguity values asthe train comes out of the tunnel This ‘Would avoid the long data interval otherwise required 0 determine the correct Mating ambiguity values. Another example where benefits cok! he oblained by using the method 300 in positioning an aeplane right afer takeofl- In this ase, aloeal RTK system at an sigport where 4 plane is preparing wo takeoff ean be used to inktalize the WADGPS ambiguities either before or during the take-off “Thus, the user or object 140, which includes the user GPS receiver 142 saul the computer system 144 coupled fo the User GPS receiver 142, can operate in oti the RTK mode andthe WADGPS mode. The local RIK system 180 is more favorable thas the WADGPS system because the search process forthe local RIK system 180 as discussed above fakes much less time than the smoothing method in the 3 WADGPS system 100 for resolving the integer ambiguity values. In the seareh process, the smoothing of the code measurements is either aot required or ‘ode measurements of much shorter dration is performed, rot to determine the whole-cyele ambiguity dire, but 1 provide a decressed uncertainty in an initial set of integer ambiguity values so thatthe subsequent search process can bbe more tightly constrained. For that reason, only few seconds of dat is sufficient for obiaiing the initial set of ‘ambiguity valves. The local RIK system 150, however, is ‘nly available in stations where the communication link berwoon the user GPS receiver 142 and the reference sation 120 in the local RIK system 150 can be maintained and the user or object 140 does not wander foo far from the reference Station 120 in the local RIK system 180. When these onditions are not satisfied, that is, when the focal RTK system 150 either not aailable or inaceurate, the user can Fesort fo the WADGPS system 100 for navigation by using the user receiver postion as determined by the RTK system 150 to initialize the WADGPS system so that the long “palin” time fo obtain the “Rating ambiguity” values is avoided FIG. 4 illustrates a process flaw 400 for a combined RTK and WADGPS operation performed by the user computer system 14. The process flow includes steps 440, 480 and 4460, As shown in FIG, 4, while the RTK coeretions are walable, the user 140 operates inthe RTK mode. Itreceives the position 1 ofthe reference station 120 inthe local RTK system 180 and performs step 440 in which the user receiv= ers PVT are determined using the RTE. corectons 410 ‘eceived from the reference receiver 120 in the local RTK system 150. During the performance of step 440, the user 140 may continve to receive the WADGPS corrections 420 from the hubs 105 so that WADGPS solutions can be _zeneated inthe background. The user 140 may also receive “dated position 430 of the reference station 120 in the local RIK system 150 from the hub 108 ota relatively low rate 12 Using the updated position of the reference station 120 and the RTE solution ofthe wer receiver position, the WADGPS solutions ean be continuously initialized in the backgronad to agroe with the RTK solutions, according to the method 300 discussed above. ‘When the RTK corrections are fos, the user 140 switches to the WADGPS mode of operation and performs step 480, jn which the user 140. uses the. usce receiver position determined in the RTK mode of operation immediately before the RTK corrections became unavailable to initialize the floating ambjgnity values for the WADGPS mode of operation acconling To the method 300 discussed above. This way; the “eating ambiguity” values canbe determined vvithout the lng "pol-in” dime. During the perfomance of sep 450, tho user 140 continues to reooive the WADGPS torretions 420 fom the hubs 10S. The wser 140 may aso receive the uated position 440 othe reference station 120 fn he local RT system 150 from the hub 108 at a relatively Tow rate, The reference station ovorlinates are used 10 transform the user rovciver position generated in the WADGPS mode int position relative tothe local reference receiver 120. This way the PVT results generate by the user computer system 14 will seamlessly transition between the ‘vo different modes af operation, When the RTK corrections are available again, the user resumes RTK operation in step 460, which is similar to the RIK operation in step 440, Process 400) can be used in many applications. One pplication involves an extension of an TK operation into treat where the RIK rigio link cannot be mainiined, but ‘where the WADGPS communication link is at Teast gener- ally available. For example, as shown in FIO. §, the user or object 140 may be a fanning vehiele $10 moving in rows $520 inan area $01 of rolling hills, wit he user receiver 142 ‘tached to the farming Vehicle orto farming equipment that i connected to the farming vehicle. The area SOL cludes area 503 hat is visible from the reference station 120 inthe local RIK system 150 an areas (shaded) SOS anc 507 that are-not visible from the reference sation 120, Because the RTK communication link sustaly line of sit, the RTK data would be ost whenever the user GPS receiver 442 is moved Irom area 808 to area 805 oF $07. But he data link between the user rceiver 142 and the WADGPS system 100 is generally available because itis often facilitated by satelite. By initializing the floating ambiguities in the WADGPS system 100 whenever the RTK radio Tink is available andthe RT system 180 js operational, the aceu~ racy of the RTK operation ean be practically preserved Auring those intervals when the RT Tink is lost IG. 6 shows process 600 for positioning or navigating sn objet associste! with both a local reference receiver and 8 wide-area differential stcllte positioning systom (e3.. WADGPS), A lating ambiguity valve and fist position of the object are determined in accordance with earir-phase measurements using the wide-area differential satelite posi- tioning system (602), In adtion, a first positon ofthe local reference receiver i detennined in accordance with eariee: Phase measurements using the wide-arca diferental satl- te positioning system (604). Thea, » position allt of the Jocal reference receiver is determined in accordance with the fist positon of the local reference receiver and a second positon of the Ieeal reference receiver (606). In some embodiments, the second position of the Ineal reference receiver is pre-determined, ex. provided by operator input to the local reference receiver Ava reall a second pos of the object is detemnined in accordance with the fist Position of the object and the postion offset (608). In someUS 7,071,870 B2 1B embodiments, the floating ambiguity value is initialized at {602i accordance withthe aforementioned position allot of the local reference receiver (612), while in some other embodiments its intalized using a known position of the object input by a user (614). ‘While the WADGPS system 100 in FIG. 1 has been wed in the above description, it will be appreciated that any regional, wide area, or global system which makes use of catriet-phase measurements fom satellites for positioning andlor navigation purposes and thus requires determining fmbiguity values associnted with the phase measrements fan also’ benefit by the method 300 described. above. Examples of these systems inelude the Sterir!™ System developed hy Joha Deere Company, and the repional High ‘Acenraey-National Differential (LA-ND) GPS system being ‘developed by several US. government agencies. ‘What is elsimet is 1. A method for positioning or navigating an object associated with both a local reference rceiver and a Wide: arc difleratial satellite positioning system, comprising: ‘determining a Hating amity valve anda first postin ‘ofthe object in accordance with carrer-phase measure rents using the wide-area differential satellite positon ing systems determining a frst postion ofthe leal reference receiver in aecondance with carrer phase measurements using the wide-ares dieretial satelite positioning systems termining a position offset of the local reference receiver ia accordance with the first position of the local reference receiver and a second position of the local reference receiver, wherein the second position of the local reference receiver is pre-determined and determining a second position of the object in aecontance with the fist postion of the object and the position oie. 2. ‘The method of claim 1, farther comprising initializing the floating ambiguity vale in accordance withthe positon offet ofthe local reference receiver. 3. The method ofelaim 1, wherein a known position ofthe object input by a user is used to initialize the ating ‘ambiguity valve 404 method for positioning or navigating an object sassocited with both a local reference receiver and a wide- are differential satelite positioning system, comprising: ‘determining a Rating ambiguity value anda fist postion ‘ofthe object in accordance with carserphase meastre ‘ments using the wide-area differenti satellite position Jing stem ina fist mode of operation and determining a second position of the object in aecontance with information received fom the local relerence ‘reciver using real-time kinematic positioning in a second mode of operation, 5. The method of claim 4, wherein a known position ofthe object is used to initialize the oating ambiguity valve. 6, The method of elaim 8, wherein the known positon of the object is the second position, 7. The method of claim 8, wherein the known positon of the object is input by a user '. The method of claim , wherein the second mode of ‘operation i used if communication with the local reference receiver is available 9, The method of elim 4, wherein the frst mode of ‘operation is sed when communication with the Joel r= ‘erence roveiver i lost and the second mode af operation is fused when the communication with the local reference receiver i available agin, and wherein the frst postion and fn offset between the fst postion andthe second positon 14 are use to initialize the second position when switching fom the fist mode of operation 1 the second mode of operation, 10. The method of claim 4, wherein the second mode of operation is used if a distance from the local reference receiver to the object is less than a pre-determined value 11. The method of claim 4, wherein the first mode of ‘operation i used if communication with the local reference receiver is lost. 12, The method of claim 4, wherein the first and second modes of operation are sed sibstanally simultanemisly, tnd diffeweace between the second position and the fist tion is nse to initialize the Hosting ambiguity valve 13. A computer eadable medium storing therein com- puter readable program instructions that, when exgcuted by 5 processor, case the processor to perform method for Poitioning oF navigating an object associated with both 2 local reference receiver and wide-area diferentialstelhite Positioning system, the program instrictions comprising instructions for detemnining a floating ambiguity value ‘and a fist position of the object in accordance with ‘urrer-phase measurements using the wide-area ifr ‘ential sitelite positioning system instretions for determining a frst position of the load reference receiver in accordance with carierphise measurements using the wide-area differential satelite positioning system; instructions for detemnining a position offset of the lal Teference receiver in accordance withthe frst position fof the local reference receiver and a second position of the local reference receiver, wherein the second posi= tion of the loal reference receiver is pre-determined: ‘and instructions for determining a second position of the ‘object in accom withthe fist positon ofthe objeet tnd the positon off 4A computer readable medium storing therein com: puter readable program instructions that, when executed by a processor, cause the processor to perform a method for Potitioning oF navigating an object associated with both 2 local reference receiver and wide-area diferentialstelhite Positioning system, the program instrictions comprising instructions for detemnining a floating ambiguity value ‘and a first position of the object in accordance with ‘crrier-phase measurements using the wide-area ifr ‘ential satellite posioning system in a frst mode of ‘operation; and instructions for determining a second position of the ‘object in accordance with information received from the local reference receiver using realtime kinematic positioning ina second mode of operation 15. satellite nvigation rceiver configured to operate in a first mode and a second mode of operation, wherein inthe first mode of operation a floating ambiguity vale and fist positon of an object are determined in accordance with Currier phase meisurements using @ wide-area differential satelite positioning sytem, and wherein in the second mode ff operation a second positon of the object is determined in fsccardance with information received from a local reference receiver using tea-time kinematie positioning 16. A satelite navigation receiver, comprising: ‘8 memory: 1 processor; and 4 program, stored in the memory and executed By the Processoe, the program inching: instructions for detemining a floating ambiguity value ‘and a fist postion of an object in accordance withUS 7,071,870 B2 15 crierphase messurements using a wide-area differ- ental satelite positioning system, insinctions for determining a fist position of @ local reference receiver in accordance with carier-phase measurements using the wide-area differential satellite Positioning system; instctions lor deermining a position offset of the local reference receiver in accordance with the first position ‘ofthe local reference receiver and a second position of the local reference receiver, wherein the second posi= tion of the loal reference receiver is pre-determined, snd insinctions for detsmining a sscond position of the ‘object in accadance with the fit position ofthe object, and the postion off. 17-A satellite navigation receiver, comprising an inte red eiruit configured to peer ‘operations fo determining 2 Mosting ambiguity value and 1 first position of an object in accordance with carrie phase measurements using elite positioning system: operations for determining fist position of & local Teference receiver in accordance with carir-phase Ieasurements using the wide-area differential satellite Positioning system; operations for determining a postion offset ofthe load reference receiver in accordance with the frst position ofthe foal reference receiver and a second postion of the local reference recever, whercin the second posi tion ofthe loal reterence roeciver is pre-determined and a wide-are differential st- 3 16 ‘operations for determining second postion ofthe object in accordance with te fist position of the object and the position ols. 18, A satcllte navigation receiver, comprising: 8 memory means 8 processor means; and ‘4 program means, stored in the memory. means and ‘executed by the processor means, for positioning or navigating an object, the program means including: instrictions for detemnining a floating ambiguity value ‘and a fist postion of an object in accondance with ‘arrierphase measirements using @ wideare differ «ential satelite positioning system: instructions for determining a fist position of @ local reference receiver in aceordance with carrer-phase measurements using the wide-area differential satel positioning system; instructions for determining a position offset of the lal reference reeiver in aecordance withthe frst position ‘of the loca reference receiver and a second position of the local reference receiver, wherein the seeond posi tion ofthe loal reference reciver is pre-determined ‘and instructions for determining a second position of the ‘object in accordance withthe ist position ofthe object and the position set,