US Patent 7212155 GPS navigation using successive differences of carrier-phase measurements

The present invention includes a process for navigating an object according to signals from satellites by propagating the position of the object forward in time using successive changes in the carrier-phase measurements. The process computes at a low rate matrices required for solving for the position of the objects, and repeatedly uses the most recently computed matrices to compute position updates at a high rate until the next low-rate computation is completed.