US Patent 11782165 Enhanced real-time kinematic (RTK)

An exemplary method of calculating a position of a GNSS device (e.g., a GNSS rover device) comprises: at the GNSS device in an enhanced real-time kinematic (RTK) mode: receiving a first set of GNSS data corresponding to a first epoch; storing the first set of GNSS data in a buffer; receiving a second set of GNSS data corresponding to a second epoch that is after the first epoch; after receiving the second set of GNSS data, retrieving the first set of GNSS data from the buffer; and calculating the position of the GNSS device based on the retrieved first set of GNSS data and the second set of GNSS data.