[seagor]

In the academic literature it is called "cooperative positioning" although we use different computational techniques than traditionally tapped by academics. Under the hood we are using techniques from RTK and PPP but in the form of a multi-receiver fueled ensemble optimization to determine the error correction. For testing we use a traditional RTK survey rig to test the results of our error corrections on phones as ground truth. Otherwise it is an exercise in managing and removing error to get as close as possible to ground truth.