Traditional partial ambiguity resolution (PAR) methods based on integer least-squares (ILS-PAR) assume that the ambiguity terms are unbiased integers, which is seldomly true in challenging environments of the Global Navigation Satellite System (GNSS). The bias will lead to unreliable positioning solutions. This study proposes a reliable PAR method based on the tightly coupling of GNSS and inertial navigation system (INS) and the solution separation with external solution (SSE) statistical testing algorithm. First, the inertial measurement unit (IMU) mechanization results are compensated using the latest fixed real-time kinematic (RTK) solutions, thus high-accuracy INS predictions are obtainable at the current GNSS epoch. Second, the SSE method based on double-differenced (DD) carrier-phase measurements are applied to select and validate the ambiguity subset and perform the GNSS/INS integration. A dynamic vehicular experiment with a low-cost microelectromechanical systems (MEMS) device has been conducted and the results indicate that the proposed method can ensure good performance of both accuracy and reliability.
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