Poling, T. CraigZatezalo, Aleksandar2007-08-162007-08-162001-07https://hdl.handle.net/11299/3665The Maximum a Posteriori Ambiguity Search (MAPAS) method for GPS ambiguity resolution is generalized to accommodate: (1) satellite switches caused by satellites rising or falling below the horizon or obstructing terrain, and (2) cycle slips due to temporary loss of lock on satellite signals. It is shown that MAPAS and generalized MAPAS are equivalent to Bayesian estimation. The generalized MAPAS method is successfully applied to real GPS satellite data with cycle slips and satellite switches due to satellite obstruction.