Abstract: A method is provided whereby a group of receivers local to one another make GNSS measurements of a number of satellites, from one or multiple different GNSS's, and by combining the measurements of the same satellites made by the different receivers it is possible given sufficient conditions to determine the positions of the receivers and the satellite errors such that the positions obtained are equivalent to those obtained from a traditional differential GNSS system, without the need for a static reference receiver at a known location.

Abstract: We describe a device that is able to compute its range and time offset relative to another similar device, and thereby also a three-dimensional position, speed and time relative to other similar devices provided that at least four are present and within range. It does so by transmitting at least two signals at different frequencies and by receiving similar signals transmitted by the other devices. The signals are constructed so that they are independent of the radio band used and so that they lead to cancellation of common-mode effects in the transmitter and receiver circuits. No fixed infrastructure of transmitters, receivers or local measurement units is required and the devices do not need to be synchronized. The system scales to very large networks of devices in which they work collectively each solving a part of the problem that describes the relative positions of all interconnected devices.