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A method and corresponding apparatus and system for solving for the position of a satellite positioning system receiver having a receiver clock with a receiver clock offset and responsive to ranging codes from some number of satellites, the ranging code from each satellite including a navigation com

A method and corresponding apparatus and system for solving for the position of a satellite positioning system receiver having a receiver clock with a receiver clock offset and responsive to ranging codes from some number of satellites, the ranging code from each satellite including a navigation component conveying information about the satellite and having a time of flight from the satellite, the method of use in signal conditions where the ranging codes can be baseband processed so that at least a repeating part of the pseudorange for each satellite can be determined. The method includes the system time at arrival, i.e. for example the time or arrival according to GPS time, as an independent variable of the pseudorange function for each of the ranging codes, an independent variable in addition to the receiver position, and solves simultaneously for the receiver position and the system time at arrival.

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1. A method for solving for the position of a satellite positioning system receiver, the receiver having a receiver clock with a receiver clock offset and responsive to ranging codes from at least one satellite, the ranging code from the at least one satellite including a navigation component convey

1. A method for solving for the position of a satellite positioning system receiver, the receiver having a receiver clock with a receiver clock offset and responsive to ranging codes from at least one satellite, the ranging code from the at least one satellite including a navigation component conveying information about the satellite and having a time of flight from the satellite, the method of use in signal conditions where the ranging codes can be baseband processed so that at least a repeating part of the pseudorange for the at least one satellite can be determined, the method comprising the steps of:a) including the system time at arrival as an independent and additional variable of the pseudorange function for each of the ranging codes, a variable in addition to the receiver position; b) providing estimates of the times of flight of the ranging codes and of the repeating part of the pseudoranges for each of the ranging codes; c) receiving information about the at least one satellite sufficient to determine the orbit of the at least one satellite, although not necessarily the position of the at least one satellite; and d) solving simultaneously for the receiver position and the system time at arrival.