Positioning and Navigation Using the Russian Satellite System

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Figure 5.1: Example of combined GPS/GLONASS positioning without coordinate transformation.
single point positioning. The influence of the different coordinate frames on the results of differential
processing will be investigated later.
Figure 5.1 shows an example of such processing. GPS and GLONASS range measurements of one re-
ceiver were processed in single point mode without regard of different coordinate frames. Receiver position
was determined in a Kalman-filtered epoch-by-epoch solution of carrier smoothed pseudoranges. Time
span of the data was approximately one hour at a data interval of 1 s. For both GPS and GPS/GLONASS
solutions there are about 3600 epoch solutions, and nearly 2300 epoch solutions for GLONASS only, due