CHAPTER 7

7.1 Introduction

	7.1.1 Introductory Remarks
	7.1.2 Background to Least Squares Adjustments
	7.1.3 Least Squares Procedures Appropriate for GPS Surveying
	7.1.4 The Nature of GPS Solutions
	7.1.5 Propagation of the GPS Survey
	7.1.6 Data Processing Considerations

7.2 Basic Modelling Concepts

	7.2.1 Introduction
	7.2.2 GPS Observation Models
	7.2.3 GPS Datum Definition Issues
	7.2.4 Adjustment Model Considerations
	7.2.5 GPS Correlation
	7.2.6 Double-Differenced Ambiguity Model Options
	7.2.7 The Structure of The Normal Equations

7.3 Getting Started: Pre- & Initial Processing Steps

	7.3.1 Introduction
	7.3.2 The RINEX Data Exchange Format
	7.3.3 Time-Tag Synchronisation
	7.3.4 Apriori Site Coordinates: The Triple-Difference Solution
	7.3.5 Detection and Repair of Cycle Slips

7.4 Introduction to the Kalman Filter-Smoother

	7.4.1 Introduction
	7.4.2 Prediction, Filtering and Smoothing
	7.4.3 Notation
	7.4.4 Prediction
	7.4.5 Filtering
	7.4.6 Smoothing

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