Recursive Detection, Identification and Adaptation of Model Errors for Reliable High-Precision GNSS Positioning and Attitude Determination

High precision applications of Global Navigation Satellite Systems (i.e., GPS, GLONASS and GALILEO) are based on resolution of the carrier phase ambiguities. Only if these ambiguities can be reliably resolved, secure position and/or attitude information can be guaranteed. Hence it is very important that the GNSS data are cleaned for possible model errors, such as outliers and/or slips. This paper describes a rigorous procedure for the real-time statistical testing and quality control of both GNSS observations and the integer phase ambiguities. The performance of the procedure will be demonstrated using kinematic GPS data.