Long baseline high accuracy GNSS relative positioning algorithm

With the development of cloud computing and networking, electronic devices demand high precision relative positioning. The traditional relative localization algorithm assumes that the directions of satellite signals which reach the base station and rover station are parallel; its error increases with increasing length of baseline. To address the problem, we discard the "parallel" assumption and proposed a relative localization algorithm that is based on the triangle in Fig.2 of the full paper, whose three vertices are the satellite, the base station and the rover station; the proposed algorithm uses the cosine relationship to establish a single difference equation and then uses the Newton iterative equations for obtaining the optimal solution. The simulation results and their analysis show preliminarily that the proposed method can still achieve high-precision positioning in the case of long baselines.