A Navigation Algorithm Using a System of GNSS Satellites and Stationary Pseudolites

The purpose of this work i is to assess the accuracy of different navigation algorithms utilized for a combined system of GPS satellites and pseudolites. The algorithms under investigation are the ordinary pseudorange least square algorithm (LSA), single difference and double difference Kalman based algorithms, and a derived algorithm which employs the Doppler measurements. An integrity measure of the combined system for the different algorithms is also provided along with the navigation accuracy. A list of pros and cons for different algorithms follows the last section of the paper.