In principal all known conventional satellite navigation systems like GPS, Galileo, GLONASS, QZSS and BeiDou are enabling the determination of the position with accuracy on the centimeter-level by help of the carrier phase. However, the carrier signals, upon which the navigation signals are modulated, are typically impaired by various error sources, like ionospheric errors, tropospheric errors, instrumental errors and/or other error sources, leading to a defective determination of the position. The invention enables a precise and reliable relative positioning (relative kinematic positioning - RTK) with centimeter-level accuracy in urban environments as well as a precise attitude determination (heading estimation with 0.25°/m accuracy) with low-cost sensors. Wit the new method the above mentioned errors can be eliminated reliably.
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