Initial parameter constraints and process noise. ng is the number of constellations, ns the total number of visible satellites, nf the number of frequencies per constellation, and nm the number of modulations per frequency
| Parameter | Quantity | Initial constraint [m] | Process noise [m/√s] |
|---|---|---|---|
| Coordinates | 3 | None | Static: 0.0 |
| Kinematic: ∞ | |||
| Receiver clocks | ng | None | ∞ |
| Tropospheric zenith delay | 1 | 0.05 | 5.0e-5 |
| Tropospheric gradients | 2 | 0.003 | 1.7e-6 |
| Slant ionospheric delays | ns | None | 0.1 |
| Carrier-phase ambiguities | nf · ns | None | 0.0 |
| Receiver code biases | ng · nf · nm | None | ∞ |
| Receiver phase biases | nf | None* | 0.0 |
↵* Phase biases are fixed on the forward run, but constraints are removed on the backward run.