Satellite Navigation of Smartphones in Relative Mode

The paper is devoted to research of target smartphone positioning precision relative to reference smartphone by combined processing of raw GNSS measurements from both smartphones. The raw GNSS measurements are pseudoranges and pseudophases. The first step of combined processing is smoothing of pseudorange measurements by corresponding pseudophase measurements. The second step of combined processing is estimation of 3D baseline vector between reference smartphone and target smartphone. Baseline vector estimation is conducted by least mean squares (LMS) procedure with smoothed pseudoranges. To record real raw measurements with two Android smartphones an experiment was conducted outdoor. Measured data were jointly post-processed and resulting precision of relative positioning was estimated. Research is intended for future augmented reality implementation.