Improved triple difference GPS carrier phase for RTK-GPS positioning

This paper will develop a new Global Positioning System (GPS) mono-frequency triple difference positioning technique. Initially presented in, this filter propose to use the carrier phase time-difference measurements as measurements. We use only the carrier phase measurements to free from multi-path effects on pseudo-ranges (typically in urban environment). This technique is an alternative to the floating ambiguity DGPS positioning. The difference is that, in triple-difference filtering, we do not estimate the carrier phase ambiguities terms and we deal with a classical colored Kalman filter. Similar technique has been used in. The main difference between their filter and our is, first, the noise modelisation (in our case the triple difference carrier phase noise is not considered as a brownian), and, secondly, our filter deal with classical correlated noises (we are not using delayed state observation model). We will apply the new filter on real dataset, and show that sub-decimetric noisy positioning is reached using this technique. Finally we will compare the results to ones obtained with classical Real Time Kinematic (RTK) positioning.