Abstract
Following extant studies on temporal relative localization (TRL) methods, this study uses a doppler velocity constraint-based temporal ambiguity variation (TAV) detection method and a two-step TAV resolution method to obtain the high-precisiontemporal relative position variations over time based on raw GNSS observations of Android smartphones, commonly plagued by frequent half-cycle slips and lock-loss. Results show that the proportion of the detectable satellites over 0.65 reaches the 95.57% level and the fix rate of global TAV resolution reaches 82.93%. We then propose the Android-odometry method which is a real-time high-precision TRL method with time-differenced carrier-phase observations of Android smartphones. The experimental results show that the method achieves centimeter-level temporal relative position accuracy during the 13-min dynamic test with Xiaomi MI8, showing a dramatic improvement of over 90% compared to the traditional RTK method.
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