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This paper develops a generalized framework for smoothing Global Positioning System (GPS) pseudorange measurements with carrier phase measurements. This framework, called 'Generalized Divergence-Free Smoothing', not only encompasses Dual Frequency Smoothing techniques known previously, but provides a continuum of possible smoothing configurations. When incorporated into DGPS architectures, the GDFS technique can be exploited to achieve specific objectives, such as minimum pseudorange errors, ionosphere-free measurements, or geometry-free integer ambiguity resolution. A highly flexible DGPS architecture based on GDFS processing is presented. The GDFS framework also provides a methodology for evaluating the performance of signal combinations for modernized Global Navigation Satellite Systems. |
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