1. A method for determining smoothed code coordinates of a standalone mobile rover, comprising: computing a vector of rover one-shot code coordinates by processing in a processor in the standalone mobile rover an N-dimensional vector of pseudo-ranges from said standalone mobile rover to a constellation of N navigation satellites at a time epoch in a plurality of time epochs; at said time epoch, determining a vector of phase local coordinates by processing corrected full carrier phase increments over time epochs elapsed from a starting time; determining a difference vector at said time epoch by subtracting said vector of rover one-shot code coordinates from said vector of phase local coordinates; defining a smoothed difference vector by filtering said difference vector by a smoothing filter; and determining a vector of smoothed code coordinates of said standalone mobile rover by subtracting said smoothed difference vector from said vector of phase local coordinates.