Abstract: Velocity determination of kinematic vehicle is important. Low-cost GPS receiver can only measure the pseudoranges and the carrier phase without the Doppler measurements. A new method for velocity determination by derived pseudoranges is presented. The formulas of derived pseudoranges are given and the precision of the velocity is analyzed. This method is applied to two actual experiments of aircraft and vehicle applications. Experimental results shown that the precision of vehicle application is lower than that of aircraft application. The influence of derived epochs number on the precision of velocity is different based on different environments, receivers and dynamic states. And the character of the receiver also takes great influence on the precision of velocity.