Abstract
Recently, unmanned aerial vehicles (UAVs) have been widely used in personal entertainment, aerial photography, geographical mapping, and precision agriculture. Accurate position of the UAV is necessary for intelligent and autonomous UAV. RTK technology can provide centimeter level positioning accuracy making it one of the development trends of UAV precise navigation. However, due to the high dynamic of vibration and motion of UAV, the accuracy of float ambiguity estimation for a low cost single frequency RTK-GNSS receiver is limited. In this paper, a single frequency RTK-GNSS/IMU integration method is proposed to improve the performance of Real time kinematic (RTK). Testified by a low cost single frequency GNSS receiver, the proposed method can decrease the time to fix ambiguity by more than 14% and increase 20% of fix rate.
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