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goGPS is a free and open source software package designed to enhance the accuracy of single frequency low-cost GPS devices by employing an extended Kalman filter. This filter can be applied either in post-processing or in real-time and it is specifically tailored for addressing the issues related to low-cost GPS receivers. To further enhance the ac...

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With the increase in the widespread use of Global Navigation Satellite Systems (GNSS), increasing numbers of applications require precise position data. Of all the GNSS positioning methods, the most precise are those that are based in differential systems, such as Differential GNSS (DGNSS) and Real-Time Kinematics (RTK). However, for absolute posit...


... In this approach, the PVT of each receiver is estimated by using standard Extended Kalman Filter (EKF) or Least Squares Estimation (LSE). The clock bias and drift values thus obtained can be used to interpolate the raw measurements to common reference epochs [12]. This is easy to implement and is well studied approach. ...
... The same interpolation method can be used in situations with more than two receivers by selecting a reference receiver and interpolating raw measurements of all the other receivers to its measurement epochs. Other techniques such as Lagrange polynomial interpolation can be used instead of direct subtraction , for interpolating raw measurements [12]. ...
The global navigation satellite system (GNSS) wave buoys currently in use can measure ocean surface waves but have major drawbacks regarding their real-time high-precision application due to the communication burden and high differential correction service costs; these issues have heavily limited the large-scale deployment of GNSS wave buoys globally. In this work, we propose a global real-time low-cost centimeter-level precise wave measurement method using onboard GNSS variometric velocities and segment wave parameter retrievals. The proposed novel method can achieve buoy velocities with millimeter-level accuracies using freely available broadcast ephemerides and clocks. In addition, surface wave parameters can be accurately retrieved online in real time at a GNSS variometric sampling rate of 2.5 Hz or above. The variometric approach retrieved significant wave height and mean wave period differences of 3.4 cm and 0.16 s, respectively, compared to those measured by the classical Datawell wave buoy, reaching the performance of precise point positioning results that can be obtained using precise ephemerides and clocks. In addition, the proposed method markedly outperformed the Doppler approach, especially in terms of the buoy velocity accuracy and displacement determination. The proposed GNSS variometric approach has promising application potential in real-time precise surface wave measurement applications at remarkably low costs, thus strongly supporting global ocean observations.