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Many applications, including connected and autonomous vehicles, would benefit from navigation technologies reliably achieving sub-meter position accuracy. Differentially corrected single frequency Global Navigation Satellite Systems (GNSS) are a suitable low cost solution. Differential corrections delivered to a roving vehicle on a nationwide scale will be subject to latency between their time-of-applicability and their time-ofreception at the vehicle. The main contribution of this article is a study of the effect of this communication latency on the position estimation accuracy. An additional contribution of this article is a comparison, using identical measurements and corrections, of the position estimation accuracy as a function of the estimation algorithm. Special attention is given to the accommodation of non-common mode errors. The article specifically focuses on the probability of achieving sub-meter accuracy with latencies up to 600 seconds.

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