Abstract
In this paper we present a carrier-phase-based PPP algorithm with multiple antennas which are disposed with solid geometrical distances and with the common receivers' clock errors, based on GR models. We present GR equations for multiple antennas, and derive the Kalman filtering formula of very precise point positioning. We also discuss on the algorithms of the so-called GNSS(GPS) Gyro by obtaining baseline vecters among antennas and the rotational matrix. The experimentals are shown by using results of the large triangle of antennas' positions: Kyoto, Okinawa and Hokkaido areas, GNSS Earth Observation Network System (GEONET) of Japan.
