The New Doppler Shift-and-Range Positioning Algorithm for the Global Navigation Satellite System

Under some circumstances in using the Global Navigation Satellite System (GNSS), since navigation signals from the satellites are blocked a receiver cannot simultaneously track four or more satellites to estimate its 3-dimensional (3D) coordinates and clock bias. This paper proposes a Doppler Shift-and-Range (DS-R) positioning algorithm with which pseudoranges and Doppler shifts are simultaneously measured. The measurement results are used as inputs to four equations in the algorithm, and the 3D position can be estimated from the equations. Through this approach the algorithm can achieve real-time 3D positioning. By synthesizing multi-frequency observational results and adopting a new method of jointly using code-carrier phases, this algorithm expectably has accuracies similar to those of the standard approach of point positioning.