Basic Observation Equations

Abstract

This chapter introduces the fundamental observation equations for multiconstellation global navigation satellite systems (GNSSglobal navigation satellite system (GNSS)s). It starts with an introduction of the basic observation equations for pseudorange, carrier-phase, and Doppler measurements. In the remainder of the chapter, the parameters used in modeling the basic observation equations are discussed. The parameters covered in the discussion are relativistic effects, atmospheric delays, the carrier-phase wind-up effect, antenna phase-center offset and variation, pseudorange and carrier-phase biases, and finally multipath errors and receiver noise.