Ensembling clocks of Global Positioning System

The Global Positioning System (GPS) is a satellite navigation system capable of providing 15-m position accuracy. Its system time reference is currently one of the monitor station clocks. Using a simple two-clock example, it is shown analytically that improved reference time stability and overall state estimation accuracy can be achieved by constructing GPS time as an ensemble of all system clocks and that the problem of covariance divergence can be handled by the introduction of pseudomeasurement processing