To determine the velocity and acceleration of the receivers under the requirements of high
accuracy applications using global navigation satellite system (GNSS), models and algorithms
based on multiple reference stations were presented in this paper. As one of the
key techniques, the navigation satellites’ velocities and accelerations calculation methods
were analyzed, including two cases: (1) under the requirement of real time applications,
the navigation satellites’ velocities and accelerations have to be calculated by using broadcast
ephemeris, the analytic expressions from three types of broadcast ephemeris, including
Kepler elements, modified Kepler elements and position-velocity types, were derived,
(2) under the requirement of high accuracy applications, the numerical difference method
was also analyzed. Furthermore, the baseline-dependant error suppression methods based
on multiple reference stations were illustrated briefly. Finally, experiments which data
from multiple reference stations show that the estimation precision of this method can
be improved about 15–20% compared with the single reference station real-time kinematic
(RTK)-derived method both in static and kinematic cases.