The filter is capable of processing single- or twin-frequency measurements and can be used with pseudoranges solely or with each pseudorange and service-phase measurements. Within the configuration used for this study, the algorithm processes twin-frequency pseudorange and provider-part GNSS observations of 1 or multiple constellations. Although the info are processed offline in the present context, the algorithm emulates a real real-time course of. It employs a sequential estimator operated in ahead mode and makes use of only previous and present observations in the data cleansing and high quality control.

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