A Tightly Combined BDS and GPS Method for RTK Positioning with Triple-Frequency Widelane Combinations

An Improved Single-Epoch GNSS/INS Positioning Method for Urban Canyon Environment Based on Real-Time DISB Estimation

“…However, to maintain the algorithm consistency, we also use (0, −1, 1) for EWL and (1, −1, 0) for WL when processing GPS triple-frequency observations. When the carrier-phase combination coefficient is settled, the carrierphase noise is minimized by adjusting the pseudorange combination coefficient to (0,1, 1) [33,34].…”