Abstract: A method includes processing reference data and positioning signals to determine a first position of a rover station for a first instance in time. A first pseudo-range measurement of a frequency and a first carrier phase measurement of the frequency are calculated. The method also includes detecting an inability to receive the reference data and generating virtual reference data based on the reference data, the position of the rover station, the first pseudo-range measurement, and the first carrier phase measurement. A second pseudo-range measurement of the frequency and a second carrier phase measurement of the frequency are calculated. The method further includes processing the virtual reference data, the positioning signals, the second pseudo-range measurement and the second carrier phase measurement, based on the detected inability to receive the reference data, to determine a second position of the rover station for a second instance in time.

Abstract: A method of determining position includes observing a first signal from a first source at a first epoch. The method includes observing a second signal from the first source at a second epoch. The method includes observing a third signal from a second source at the first epoch. The method includes observing a fourth signal from the second source at the second epoch. The method includes generating a first set of comparison data based on the first signal and the second signal. The method includes generating a second set of comparison data based on the third signal and the fourth signal. The method includes determining whether cycle-slip exists based on the first set of comparison data and the second set of comparison data. The method includes determining a current position of a standalone global navigation satellite system (GNSS) receiver in response to a determination that cycle-slip does not exist.

Abstract: A standalone GNSS receiver saves at each epoch a position and observables based on one or more signals. A reference position associated with a reference epoch is saved with reference observables. At a later epoch, the current position is determined by reference to the reference position and the reference epoch by performing a real time kinematic process. When cycle slip and/or signal lock has occurred, an ambiguity resolution is performed in real time kinematic. A standalone GNSS receiver with ambiguity resolution and real time kinematic at a current epoch achieves centimeter-level position accuracy by fixing ambiguities to integer and performing real time kinematic upon signal restoration. The saved reference data and coordinate serve as a reference station until signal restoration.