Code Differential Relative Positioning for GNSS Receivers

This paper introduces an algorithm to determine relative position between rover GNSS receivers. Other than the simple way of subtracting two coordinates, the proposed method is based on the code-phase differences. Pseudorange measurement differences are calculated directly, and the position difference can be derived as a solution to the linearized equation of pseudorange measurement. Principles and methods are introduced in the paper. The algorithm is validated by actual dataset, which reveals 43% improvement at maximum in the estimation error of distance between receivers.