The carrier-phase-derived delta pseudorange measurements are often used for velocity determination. However, it is a type of\r\nintegrated measurements with errors strongly related to pseudorange errors at the start and end of the integration interval.\r\nConventional methods circumvent these errors with approximations, which may lead to large velocity estimation errors in highdynamic\r\napplications. In this paper, we employ the extra states to ââ?¬Å?rememberââ?¬Â the pseudorange errors at the start point of the\r\nintegration interval. Sequential processing is employed for reducing the processing load. Simulations are performed based on\r\na field-collected UAV trajectory. Numerical results show that the correct handling of errors involved in the delta pseudorange\r\nmeasurements is critical for high-dynamic applications. Besides, sequential processing can update different types of measurements\r\nwithout degrading the system estimation accuracy, if certain conditions are met.
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