Chapters 4 and 5 dig deep into mathematical formulation of GNSS parameter estimation and observation models. All the concepts are presented clearly and concisely, with diagrams to assist reader comprehension. Chapter 6 describes Continuously Operating Reference Station (CORS) networks and their role in geodesy and definition of reference frames. Various global and regional CORS networks are presented in this section. Th e chapter also covers GNSS data and common formats such as RINEX and RTCM. Chapter 7 introduces the whole cycle of GNSS data processing, including preprocessing, ambiguity fixing, and solution reprocessing methods as commonly used in both epoch solutions and time series data. Th e book concludes with appendices on orbit modelling, GNSS linear combinations, application examples, and an example linear model.
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