Algorithm 1
1	Initialize the known point of GNSS/pseudolite receiver and z is a constant
2	continue = true
3	while continue do
4	velocity at epoch t = velocity at epoch t+1
5	position at epoch t = position at epoch t+1
6	for number of available channels do
7	Calculate ex and ey for each available channel
8	end
9	for number of available channels - 1 do
10	Calculate the matrix A
11	Calculate the Doppler differential matrix b
12	end
13	$\Delta v={({\mathbf{A}}^T\mathbf{A})}^{-1}{\mathbf{A}}^T\mathbf{b}$.
14	velocity at epoch t+1 = velocity at epoch t +$\Delta v$.
15	Calculate the position at epoch t+1
16	If$\Delta v$≤0.0001 then
17	break;
18	end
19	end