${\Phi }_i^k\left(t\right)$	carrier phase measurement collected at receiver time $t_i$, in m
${\rho }_i^k\left(t\right)$	geometric distance between the receiver i and the satellite k, in m
c	speed of light in vacuum, in m/s
${\dot{\rho }}_i^k\left(t\right)$	topocentric range rate of the satellite k with regard to the receiver i, in m/s
$d{t}_i$	receiver clock offset, in s
$d{t}^k$	satellite clock offset, in s
$I_{i,\Phi }^k\left(t\right)$	ionospheric delay evaluated at epoch $t_i$, in m
$T_i^k\left(t\right)$	tropospheric delay evaluated at epoch $t_i$, in m
$\lambda$	carrier phase wavelength, in m
$N_i^k$	integer ambiguity for the carrier phase observable, in cycles
${\Phi }_i\left(t_0\right)$	initial carrier phase offset for the receiver i, in m
${\Phi }^k\left(t_0\right)$	initial carrier phase offset for the satellite k, in m
${\delta }_i$	receiver hardware delay, in m
${\delta }^k$	satellite hardware delay, in m
$\delta m_i^k\left(t\right)$	carrier phase multipath error, in m
${ϵ}_i^k\left(t\right)$	random noise, in cycles