To solve the problem that Global Navigation Satellite System(GNSS) receiver cannot realize positioning due to insufficient available satellites in incomplete condition, a positioning algorithm based on Doppler shift obtained from carrier loop is proposed in this paper. This algorithm can realize dual-satellite positioning in single system and three-satellite positioning in dual-system. Experiment shows that the proposed algorithm can achieve ideal positioning accuracy and significantly improve the continuity of GNSS navigation service in incomplete condition of insufficient available satellites.
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