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.

Abstractln this paper, a practical method for improving GPS-PPP(Global Positioning System-Precise Point Positioning) accuracy in urban canyons are presented by using a barometric pressure sensor. Several techniques to improve PPP quality are also integrated into a PPP algorithm which is available in case that there are few (only two or three) visible satellites from automobiles moving on the street in urban canyons. Therefore, this paper verifies the usefulness to integrate barometric pressure information into these methods.

In this paper, practical methods for improving GPS-PPP (Global Positioning System-Precise Point Positioning) accuracy in urban canyons are presented and examined in real severe circumstances. In our previous work, the method for improving positioning accuracy is presented by using a barometric pressure sensor. And the usefulness of the method was shown by the experiments such that the number of satellites used in the position calculation was artificially decreased to 3. In this paper, the algorithm proposed in our previous work is tested for the automobile which runs in real severe circumstances such as near the skyscrapers, raised expressways and the feasibility and usefulness of the proposed method with few satellites are shown.