Abstract
Single-frequency GPS/BeiDou navigation satellite system (BDS) real-time kinematic (RTK) and inertial navigation system (INS) integration has wide range of application prospects due to the global deployment of GPS along with the rapid development of BDS. The instantaneous single-frequency ambiguity resolution will be significantly improved by the combined GPS/BDS and INS configuration. Owing to road conditions and an inertial measurement unit (IMU) on the carrier not being rigidly mounted, biased measurements in the IMU will occasionally emerge, leading to biased INS predictions. However, bias or inaccuracy from INS-predicted position can prevent the successful resolution of the whole set of ambiguities. This paper proposes the use of a positional polynomial fitting (PPF) constraint to compensate for the epochs with abnormal INS predictions. The aid from PPF is provided at two levels, i.e., at the ambiguity resolution (AR) level and at the solution level. In order to further increase the availability of ambiguity-fixed positioning solutions, a partial ambiguity resolution (PAR) strategy is introduced when full ambiguity resolution (FAR) fails. A field vehicular experiment was performed to show the validity of the proposed PPF-aided method by comparing different schemes regarding different INS-aided satellite system configurations, different AR strategies, and whether the PPF-aided method was adopted. The results show that the most attractive scheme is to combine the PAR with the PPF-aided dual-constellation and INS integration.
Highlights
Global navigation satellite systems (GNSS) technology has been widely researched and applied to many engineering applications, such as vehicle navigation, personal positioning, and mobile surveying
The single-frequency global positioning system (GPS)/BeiDou navigation satellite system (BDS) (GPS L1 and BDS B1 phase and code observations) and inertial navigation system (INS) data were processed to validate the proposed method using a single-epoch mode, while the dual-frequency ambiguity-fixed GPS/BDS real-time kinematic (RTK) and INS solution was processed for reference
This could be attributed to three factors, namely, the strengthened satellite geometry of the combined GPS and BDS system, the utilization of the partial ambiguity resolution (PAR) strategy, and, especially, the fact that there were no significant outliers in the inertial measurement unit (IMU) measurements during the whole test
Summary
Global navigation satellite systems (GNSS) technology has been widely researched and applied to many engineering applications, such as vehicle navigation, personal positioning, and mobile surveying. In open-sky and short baseline conditions, a dual-frequency global positioning system (GPS) RTK technique can achieve rapid, even instantaneous, ambiguity resolution (AR) with a high success rate [2]. When it comes to single-frequency RTK for low-cost GPS receivers, for single-epoch kinematic positioning, there is a low success rate for AR. Attracted by the reduced size and low-cost inertial navigation system (INS) using micro-electro-mechanical sensors (MEMS) technology, integrating the low-cost inertial sensors with a single-frequency receiver has broad application prospects in the civil market [4]. For GNSS RTK/INS integration is required reliable ambiguity resolution: incorrect ambiguities can cause position errors as well as sensor biases divergent and failed ambiguity resolution reduces availability
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