Abstract: A GNSS receiver and a method of processing GNSS measurements are disclosed. The method includes defining (220) a state vector, comprising state variables. It further includes obtaining (230) a posterior probability density for the state vector. State information is inferred based on the posterior probability density. This inferring involves integrating the posterior probability density. The integrating comprises dividing (234) a domain of the posterior probability density into a plurality of slices along a dimension associated with one of the state variables; integrating (236) each slice separately, to produce a respective integration result for each slice; and combining (238) the integration results for the slices.

Abstract: A method and apparatus are disclosed for processing GNSS measurements. The GNSS measurements include carrier phase measurements. A state vector is defined, comprising state variables. A posterior probability density for the state vector is obtained, which is based on non-Gaussian residual error models for the GNSS measurements. A search of the posterior probability density is performed, to identify a set of modes of the probability density. State information is inferred based on the posterior probability density, using the identified set of modes. The search comprises transforming the posterior probability density into a mixture model comprising a plurality of mixture components, wherein each mixture component is a multivariate distribution.