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Extensive alteration of common integrated system designs offers major benefits in performance and economy. Estimation of dynamics from carrier-phase sequential differences can relieve the burden of ambiguity resolution, and therefore eliminate system instability from local minima sometimes producing incorrect integers. By placing emphasis appropriately on short-term behavior, computational complexity is also reduced with numerous algorithmic enhancements not commonly used. Various application-dependent alternative formulations are offered, with implications for interface standards for both inertial and GPS data. This work produced a program successfully validated with a low-cost inertial measurement unit, updated by GPS code and carrier at 1 Hz. Correlations are addressed, along with the influence on processing algorithms.

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