Originally Posted by archae86
Here is a link to the pdf for a formal paper. The application was (literally) agricultural. I can't vouch for the quality of the paper, but it is reasonably recent. At least it will get you past the serious error of ignoring the fact that commercially available GPS receivers (down to inexpensive handhelds) in fact use Doppler as a component of their velocity estimation, not just position differencing.
GPS velocity error paper
Thank you, that might just be what I was after - but I think that I need the weekend to go and think about it!
G