对单个历元的双差载波相位观测方程进行零空间变换，避免了实时变化的三维位置参数求解；
It transforms the double-differential carrier observation equation using null space transformation so that it need not to resolve real-time three-dimensional position parameters.
提出相邻历元间差分算法，大大简化了观测方程，同时避免积分常量的计算。
A differential arithmetic is proposed for simplifying the observational equation as well as for avoiding the computation of the unknown integer constant.
提出了一种基于双频观测数据的单历元周跳探测和修复方法。
A new method is proposed for detecting and repairing cycle slips in GPS navigation based on the dual frequency observations.
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