Error Modelling

Pseudorange

Various errors, such as satellite and receiver clock errors (\(\delta t^s, \delta t_r\)), as well as ionospheric (\(I\)) tropospheric delays (\(T\)), need to be accounted for.

\[\rho^s_r(t) = p^r_s + c(\delta t^s - \delta t_r) + T + I + \epsilon_r^s\]

Carrierphase

The carrier phase measurement is affected by similar errors as the Pseudorange, in addition the carrier wavelength (\(\lambda\)) and the number of waves (\(N\)) need to be accounted for.

\[\phi^s_r(t) = p^r_s + c(\delta t^s - \delta t_r) + T - I + N \lambda + \epsilon_r^s\]