Wide-lane Ambiguity Resolution Research Articles

An improved wide-lane ambiguity resolution method for kinematic smartphone positioning

Abstract The release of GNSS raw data on Android smartphones provides the potential for high-precision smartphone positioning using multi-constellation and multi-frequency signals. However, severe multipath and low observation quality in kinematic environments make double-differenced uncombined ambiguities difficult to resolve reliably. To address this, the paper proposes an improved wide-lane (WL) integer ambiguity resolution (IAR) method that combines integer rounding and the Least-Square AMBiguity Decorrelation Adjustment (LAMBDA) methods. The proposed method achieved fix rates of 57% to 70% in challenging environments, with an average improvement of 7 · 7% in horizontal positioning accuracy compared to the float solution. The traditional partial integer rounding method only improved accuracy by 1 · 1%.

Enhancing Smartphone Relative Positioning With Partial Wide-Lane Ambiguity Resolution: Path to Real-time, Decimeter-Level Positioning in User Environments

Enhancing Smartphone Relative Positioning With Partial Wide-Lane Ambiguity Resolution: Path to Real-time, Decimeter-Level Positioning in User Environments

Integrity monitoring scheme for single-epoch GNSS PPP-RTK positioning

Integrity monitoring for precise point positioning is critical for safety-related applications. With the increasing demands of high-accuracy autonomous navigation for unmanned ground and aerial vehicles, the integrity monitoring method of high-precision positioning has become an essential requirement. While high precision Global Navigation Satellite Systems (GNSS) positioning is widely used in such applications, there are still many difficulties in the integrity monitoring method for the multi-frequency multi-GNSS undifferenced and uncombined Precise Point Positioning (PPP). The main difficulties are caused by using the measurements of multiple epochs in PPP. Based on the baseline Multiple Hypothesis Solution Separation (MHSS) Advanced Receiver Autonomous Integrity Monitoring (ARAIM) algorithm, this paper discusses the feasibility of the pseudorange-based baseline ARAIM method on the single-epoch PPP based on Real-Time Kinematic (RTK) networks (PPP-RTK) framework to overcome these difficulties. In addition, a new scheme is proposed to transfer the conventional PPP process into the single-epoch PPP-RTK framework. The simulation results using the proposed model are analyzed in this study. The Protection Levels (PLs) estimated by PPP Wide-lane Ambiguity Resolution (PPP-WAR) model with regional corrections can reach the meter level and the PLs estimated by PPP Ambiguity Resolution (PPP-AR) and PPP-RTK models are usually the sub-meter level. Given a horizontal Alert Limit (AL) of 1.5 m, the global coverage of availability above 99.9% for PPP-WAR, PPP-AR, and PPP-RTK can reach 92.6%, 99.4%, and 99.7% respectively. The results using real kinematic data also show that tight PLs can be achieved when the observation conditions are good.

The benefit of B1C/B2a signals for BDS-3 wide-area decimeter-level and centimeter-level point positioning with observable-specific signal bias

In addition to the legacy of B1I and B3I signals, the BeiDou Global Navigation Satellite System (BDS-3) also broadcasts the new navigation signals B1C and B2a, which brings new challenges and opportunities for multi-frequency precise point positioning (PPP) ambiguity resolution. The observable-specific signal biases (OSBs) provide flexible frequency choice for multi-frequency ambiguity resolution. This work implemented an approach of BDS-3 quad-frequency OSBs estimation, making the generated OSBs suitable for ambiguity resolution using any frequency combinations. Besides, the benefits of B1C and B2a signals for wide-area decimeter-level and centimeter-level point positioning with ambiguity resolution are also investigated in depth. The BDS-3 B1C/B1I/B2a/B3I measurement data of 110 stations over one month were used to estimate the quad-frequency phase OSBs, and 20 different stations were selected for PPP verification. The results indicate that the BDS-3 quad-frequency phase OSBs are relatively stable, with a standard deviation of less than 0.06 cycle. The B1C/B2a/B3I combination achieved the highest positioning accuracy for instantaneous triple-frequency PPP wide-lane ambiguity resolution, with root-mean-square of 0.15 m, 0.17 m and 0.51 m in the east, north and up directions, respectively. Moreover, the use of B1C/B2a instead of the traditional frequency B1I/B3I as the WL combination improved the single-epoch PPP accuracy. Furthermore, after solving the narrow-lane ambiguity, the median convergence time of B1C/B2a for the kinematic and static mode was 26.5 min and 14.5 min, which was shortened by 29.3 % and 27.5 % compared to the results of the B1I/B3I combination, respectively.

Assessment of Multi-Frequency PPP Ambiguity Resolution Using Galileo and BeiDou-3 Signals

From network RTK to PPP-RTK, it is highly expected that high-precision positioning within a few minutes can be achieved with a sparse reference network. In this study, we investigate a rapid multi-frequency PPP convergence strategy based on Galileo E1/E5a/E6 and BeiDou-3 B1C/B2a/B3I signals, whose unambiguous wide-lane observables can efficiently assist in speeding up narrow-lane ambiguity resolution. Furthermore, frequency-specific biases existing on the third-frequency observables have been observed to slow down multi-frequency PPP-AR convergence. In this study, we partially mitigated their effects by estimating a second satellite clock for the third frequency of signals. We validated this approach with one month of data collected from 22 stations. On average, it took about 18 min for PPP wide-lane ambiguity resolution (PPP-WAR) to converge, while 32 min were required for ambiguity-float PPP. Compared with dual-frequency PPP-AR, which needed nearly 12 min to converge, multi-frequency PPP-AR required 6 min only. Once there were more than 10 satellites involved in PPP, the convergence could be achieved within 3 min on average. Meanwhile, 81% and 62% of multi-frequency PPP-AR solutions converged successfully within 5 and 1 min, respectively. Finally, we carried out a vehicle-borne experiment to validate this approach in a kinematic environment. Owing to frequent cycle slips during the movement of vehicle, it took 14 min for B1C/B2a/B3I and E1/E5a/E6 PPP-AR to obtain reliable positions, and 19 min for those using the other signal combinations B1C/B2a/B2b and E1/E5a/E5b, owning to higher noise. Overall, these results are promising for achieving high-precision PPP positioning globally within a few minutes if multi-frequency biases can be handled well in the data processing.

Using Galileo and BDS-3 Quad-Frequency Signals for Long-Baseline Instantaneous Decimeter-Level Positioning

As the signals of Galileo and the global BDS-3 navigation satellite system have been accessible, positioning users can use quad-frequency even five-frequency signals nowadays. With multifrequency signals, one can form some useful combinations to improve the positioning performance, e.g., the widely used extra-wide-lane (EWL)/wide-lane (WL) in triple-frequency cases. For quad-frequency or five-frequency cases, better positioning performance can be expected since additional frequencies are introduced. In this study, we systematically analyse the benefits of Galileo and BDS-3 quad-frequency signals on long-baseline instantaneous positioning. First, the theoretical analysis of EWL/WL ambiguity resolution (AR) and satellite-station range estimation with a single-satellite geometry-free and ionosphere-free model is studied, along with the comparison with triple-frequency cases. Second, using the quad-frequency advantages, an instantaneous decimeter-level positioning model is proposed, where the geometry-free model is adopted for the first two EWL AR and the geometry-based model is adopted for the third WL AR. In the end, the AR and positioning performance are evaluated using real long-baseline date containing Galileo and BDS-3 quad-frequency observations. The results indicate that, with quad-frequency observations, both Galileo and BDS-3 EWL/WL ambiguities can be fixed reliably with a single epoch. Contributed by the resolved EWL/WL ambiguities, instantaneous decimeter-level positioning can be obtained, with the accuracies of 0.116 m/0.126 m/0.351 m in north, east, and up directions, respectively.

GNSS Receiver-Related Pseudorange Biases: Characteristics and Effects on Wide-Lane Ambiguity Resolution

Satellite chip shape distortions lead to signal tracking errors in pseudorange measurements, which are related to the receiver manufacturers, called receiver-related pseudorange biases. Such biases will lead to adverse effects for differential code bias (DCB) and satellite clock estimation, single point positioning (SPP) and precise point positioning (PPP) applications with pseudoranges. In order to assess the characteristics of receiver-related pseudorange biases for global positioning system (GPS), Galileo navigation satellite system (Galileo) and BeiDou navigation satellite system (BDS), seven short baselines from the Multi-GNSS experiment (MGEX) network are tested. The results demonstrate that there are significant inconsistences of pseudorange biases according to satellites, frequencies, receiver and antenna types. For the baselines using the same receivers of TRIMBLE, pseudorange biases are within ±0.2 ns with the same antennas, while they increase to ±0.6 ns with the different antennas. As for baselines with mixed receiver types, pseudorange biases can reach up to 2.5 ns. Among GPS/Galileo/BDS, Galileo shows the smallest pseudorange biases, and the obvious inconsistences of pseudorange biases are observed between BDS-2 and BDS-3, and Galileo in-orbit validation (IOV) satellites and full operational configuration (FOC) satellites. In order to validate receiver-related pseudorange biases, we carry out relative positioning experiments using short baselines. The results show that the RMS values of position errors are reduced 12.6% and 11.4% in horizontal and vertical components with biases correction. The impacts of receiver-related pseudorange biases on wide-lane (WL) ambiguity are also discussed. The results indicate that the percentage of the fractional parts within ±0.1 cycles have an obvious increase with the pseudorange biases correction, and RMS values of the fractional parts are reduced 28.9% and 67.6% for GPS and BDS, respectively.

Improving GPS and Galileo precise data processing based on calibration of signal distortion biases

The quality of pseudorange observations plays an important role in Global Navigation Satellite System (GNSS) data processing, especially for satellite clock estimation, differential code bias (DCB) estimation and wide-lane ambiguity resolution. It is validated that receivers with different correlator spaces and front-end designs will bring signal distortion bias (SDB) in pseudorange observations, which will affect GNSS data processing based on inhomogenous receivers, such as receivers from Multi-GNSS EXperiment (MGEX) network. We firstly evaluate the consistency of GPS and Galileo satellite clock and DCB products among different International GNSS Service (IGS) Analysis Centers (ACs). The results show that inconsistency exists in both satellite clocks and DCB products among different ACs. For example, the difference of GPS satellite DCB (C1C-C1W) between two ACs, which is free of ionospheric delay, can reach up to 0.31 ns. To improve GPS and Galileo precise data processing based on inhomogenous receivers, pseudorange biases caused by receiver signal distortion are analyzed and calibrated for 5 receiver brands and 19 receiver models. The maximum pseudorange biases of ionospheric-free combination caused by receiver SDBs can reach up to ±3 ns and ±1 ns for GPS and Galileo, respectively. Then, bias corrections of GPS and Galileo raw pseudorange observations are divided into 11 groups and estimated by each receiver group. Finally, several experiments are carried out for the validation of GPS and Galileo SDB correction models. For example, the GPS and Galileo satellite clock offset differences estimated by different receiver brands are decreased by 86.59% and 50.0% for specific receiver type, respectively. The improvement ratio of satellite DCB accuracy is related to satellite systems and signal types, and the maximum improvement can reach up to 95%. Moreover, the maximum improvement of GPS undifferenced wide-lane ambiguity resolution success rate can reach up to 22% for specific receiver types. All these results prove that the bias corrections proposed could greatly eliminate the effect of receiver SDBs on GPS and Galileo precise data processing. Hence, we suggest the corrections of SDBs should be taken into consideration for IGS data reprocessing.

BDS multi-frequency PPP ambiguity resolution with new B2a/B2b/B2a + b signals and legacy B1I/B3I signals

As of December 2019, the core constellation of BeiDou Navigation Satellite System with global coverage (BDS-3) has been fully deployed with 24 MEO, 3 IGSO and 1 GEO satellites. In addition to the legacy B1I and B3I signals, BDS-3 satellites are capable of transmitting several new navigation signals, including B1C, B2a, B2b and B2a + b. The multi-frequency signals of BDS-3 bring new opportunities for fast ambiguity resolution (AR) of BDS precise point positioning (PPP). In this contribution, the BDS five-frequency PPP AR method was developed and the benefits of BDS-3 multi-frequency signals for precise positioning were investigated. The multi-frequency uncalibrated phase delay (UPD) products were estimated firstly using observations from 222 Multi-GNSS Experiment stations. The extra-wide-lane, wide-lane and narrow-lane UPDs of BDS-3 exhibit high stability with standard deviations less than 0.1 cycle. With the derived UPD products, five-frequency PPP AR was conducted at 12 static stations and a moving vehicle. The time to first fix of BDS PPP AR was shortened to 25.5 min with multi-frequency observations, showing improvement of 25.4% when compared to dual-frequency PPP AR. Moreover, instantaneous PPP wide-lane ambiguity resolution (WAR) can be achieved with success rate of over 90%. A fast decimeter-level accuracy can be achieved for BDS five-frequency PPP WAR with positioning accuracy improved by 68%-82% compared to PPP float solutions. The vehicle-borne experiment further demonstrates that BDS PPP WAR is potential to maintain decimeter-level positioning accuracy even in a complex environment.

Unequal‐weighted TCAR algorithm for long‐baseline static triple‐frequency ambiguity resolution

On account of the different parameters of delay-locked loop, multipath effect and code bandwidth, the Global Navigation Satellite System (GNSS) pseudorange noise of each frequency is different. An unequal-weighted three-carrier ambiguity resolution (TCAR) algorithm for long-baseline static triple-frequency ambiguity resolution is proposed. The algorithm is conducted in cascaded steps. When calculating the coefficients of the extra-wide-lane (EWL), wide-lane (WL) and narrow-lane (NL) combinations, the difference of pseudorange noise is considered. Real triple-frequency BeiDou Navigation Satellite System and Global Positioning System observations from four International GNSS Service stations from 13 January to 19 January 2019 are analysed to evaluate the performance of the proposed algorithm. Results show that compared to the classical equal-weighted algorithm, the proposed algorithm shows a comparable performance for the EWL and WL ambiguity resolution and much better performance for the NL ambiguity resolution.

Beyond three frequencies: an extendable model for single-epoch decimeter-level point positioning by exploiting Galileo and BeiDou-3 signals

GNSS is indispensable to self-driving vehicles by delivering decimeter-level or better absolute positioning solutions. Such a high precision normally requires a convergence time spanning seconds to minutes, which is, however, unrealistic in extremely difficult driving conditions where GNSS signals are obstructed frequently. Such convergences, no matter how short, will greatly risk and discredit autonomous driving in satisfying stringent life safety standards. In this study, we therefore developed an extendable GNSS precise point positioning (PPP) model to exploit the advanced Galileo/BeiDou-3 more-than-three-frequency signals with the goal of achieving instant or single-epoch 10–30 cm positioning accuracy and over 99% availability for the horizontal components over wide areas. In particular, uncombined Galileo/BeiDou-3 signals on all available frequencies were injected simultaneously into PPP to perform single-epoch wide-lane ambiguity resolution (PPP-WAR) after phase bias calibrations on raw observations. Experimenting on the Galileo five-frequency data from 36 stations in Australia, we found that instant PPP-WAR was accomplished at more than 99.5% of all epochs; we achieved an instant positioning accuracy of 0.10 and 0.11 m (1σ) for the east and north components, respectively, using Galileo E1/E5a/E5/E5b/E6 signals from less than 10 satellites, while 0.16 and 0.23 m using BeiDou-3 B1C/B1I/B2a/B2b/B3I signals from only 5–6 satellites per epoch observed by 10 stations within China. Moreover, we carried out vehicle-borne experiments collecting multi-frequency Galileo/BeiDou-3 signals in the case of overpass and tunnel adversities. With 7 Galileo/BeiDou-3 satellites per epoch on average, instant PPP-WAR reached a mean positioning accuracy of 0.23 and 0.24 m for the horizontal components, which can be further improved to 0.14 and 0.12 m when multi-epoch filtering is preferably enabled. More encouragingly, though this positioning accuracy can also be ensured with triple-frequency data, the data redundancy favored by even more frequencies can reduce the high-precision recovery time from up to 4 s to 2 s in the case of total signal blockages. With the rapidly ongoing deployment of Galileo, BeiDou-3 and other GNSS constellations, we can envision an instant global positioning service characterized by around 20 cm horizontal accuracy and over 99% availability for self-driving vehicles.

Galileo PPP rapid ambiguity resolution with five-frequency observations

Galileo, transmitting signals on the five frequencies E1, E5a, E5b, E5 and E6, has completed the fundamental constellation with 26 satellites and now can provide the global positioning service independently. Multi-frequency (triple-frequency or above) signals allow a variety of combinations on different frequencies, which has the potential to improve the performance of the precise point positioning (PPP) ambiguity resolution (AR). We developed a multi-frequency PPP AR method to make use of the Galileo five-frequency observations. The stable multi-frequency uncalibrated phase delay (UPD) products of Galileo were estimated first. It is interesting to find that the extra-wide-lane (EWL) UPDs on the E5a/E5b, E5a/E5 and E5/E5b combined frequencies are very close to zero. With the obtained UPD products, the Galileo triple-, quad- and five-frequency PPP AR was conducted. Triple-frequency PPP AR with different frequency combinations can improve the positioning accuracy of 30 min by 36.6–86.8% compared with float solutions, and 2.3–62.5% compared with dual-frequency PPP AR. Among the five types of frequency combinations, the triple-frequency PPP AR on E1/E5/E6 frequencies shows the best positioning performance with the averaged convergence time shortened to 16.9 min. Furthermore, the averaged convergence time is 15.3 min and 15.0 min for quad- and five-frequency PPP AR, respectively. Compared with the time to first fix (TTFF) of 19.9 min for narrow-lane ambiguity resolution with dual-frequency observations, the TTFF is only shortened by about 1 min with multi-frequency observations. It is beneficial that the EWL and wide-lane (WL) ambiguities can be fixed to integers instantaneously, and the decimeter-level positioning accuracy can be achieved within 0.5 min by utilizing triple-/quad-/five-frequency PPP wide-lane AR (WAR). Moreover, the positioning accuracy of the first epoch derived from Galileo five-frequency PPP WAR is (0.112, 0.144, 0.641) m in the east, north and up components, which has an improvement of 2.1–42.0% compared to triple-/quad-frequency PPP WAR.

Calibration of BeiDou Triple-Frequency Receiver-Related Pseudorange Biases and Their Application in BDS Precise Positioning and Ambiguity Resolution.

Global Navigation Satellite System pseudorange biases are of great importance for precise positioning, timing and ionospheric modeling. The existence of BeiDou Navigation Satellite System (BDS) receiver-related pseudorange biases will lead to the loss of precision in the BDS satellite clock, differential code bias estimation, and other precise applications, especially when inhomogeneous receivers are used. In order to improve the performance of BDS precise applications, two ionosphere-free and geometry-free combinations and ionosphere-free pseudorange residuals are proposed to calibrate the raw receiver-related pseudorange biases of BDS on each frequency. Then, the BDS triple-frequency receiver-related pseudorange biases of seven different manufacturers and twelve receiver models are calibrated. Finally, the effects of receiver-related pseudorange bias are analyzed by BDS single-frequency single point positioning (SPP), single- and dual-frequency precise point positioning (PPP), wide-lane uncalibrated phase delay (UPD) estimation, and ambiguity resolution, respectively. The results show that the BDS SPP performance can be significantly improved by correcting the receiver-related pseudorange biases and the accuracy improvement is about 20% on average. Moreover, the accuracy of single- and dual-frequency PPP is improved mainly due to a faster convergence when the receiver-related pseudorange biases are corrected. On the other hand, the consistency of wide-lane UPD among different stations is improved significantly and the standard deviation of wide-lane UPD residuals is decreased from 0.195 to 0.061 cycles. The average success rate of wide-lane ambiguity resolution is improved about 42.10%.

An assessment of wide-lane ambiguity resolution methods for multi-frequency multi-GNSS precise point positioning

We assess the time-to-first-fix (TTFF) and the ambiguity fixing rate of two PPP wide-lane ambiguity resolution (WL-AR) methods, namely the geometry-based and ionospheric-free (GB-IF) method, and the geometry-free and ionospheric-free (GF-IF) method. First, an optimal GF-IF WL linear combination is selected based on the ratio between the code and carrier phase measurement noise (). Then, the relation between ambiguity variance and satellite geometry in the GB-IF WL-AR is investigated. Both simulated and real data from 31 GNSS stations over 37 consecutive days in 2017 were used. Numerical results show that the GF-IF WL-AR method has shorter TTFF and higher ambiguity fixing rate compared to the GB-IF method when . However, when , the GB-IF method outperforms the GF-IF method. Depending on RT values used, 2–10 min would be required to resolve the WL ambiguities when using GNSS measurements with one second sampling rate.

Toward global instantaneous decimeter-level positioning using tightly coupled multi-constellation and multi-frequency GNSS

Autonomous driving represents one of the emerging applications that require both high-precision positions and highly critical timeliness to reach stringent safety standards. We develop a method to potentially achieve global instantaneous decimeter-level positioning by virtue of tightly coupled multi-GNSS triple-frequency observations contributing to precise point positioning (PPP). Inter-system phase biases (ISPBs) for two wide-lane observables are first computed for each station to form inter-GNSS resolvable ambiguities, and then correspondingly two wide-lane fractional-cycle biases (FCBs) are computed for each satellite to recover the integer property of single-station ambiguities. With both ISPB and FCB products, we can accomplish tightly coupled multi-GNSS PPP wide-lane ambiguity resolution (PPP-WAR) using only a single epoch of triple-frequency observations on a global scale. To verify this method, we used 1 month of GPS/BeiDou/Galileo/QZSS data from 107 globally distributed stations and 1 h of such multi-GNSS data collected on a vehicle moving in an urban area. We found that both ISPB and FCB products could be estimated every 24 h with high precisions of around or below 0.1 cycles; 83–98% of their day-to-day variations fell within 0.1 cycles, facilitating their precise predictions for real-time applications. Using these corrections, we achieved both instantly and reliably ambiguity-fixed solutions at 91.2% of all epochs at the 107 stations on average; the resultant single-epoch positions reached a mean accuracy of 0.22 m, 0.18 m and 0.63 m for the east, north and up components, respectively, in case of abundant triple-frequency observations from over 15 satellites. Similarly, for the vehicle-borne test, we obtained instantaneous PPP-WAR solutions at 99.31% of all epochs and achieved a positioning accuracy of 0.29, 0.35 and 0.77 m for the east, north and up components, respectively, which improved significantly the identification of road lanes as opposed to other single-epoch solutions. Finally, we expect that the prospect of instantaneous PPP-WAR in aiding driverless vehicles can be more promising if, whenever possible, integrated with inertial sensors and/or smoothed through multi-epoch data.

Characteristics of BeiDou Navigation Satellite System (BDS) Code Observations for Different Receiver Types and Their Influence on Wide-Lane Ambiguity Resolution.

The Chinese BeiDou Navigation Satellite System (BDS) has been an important constitute of the Global Navigation Satellite System (GNSS), and the combination of GPS and BDS shows significant improvements when compared with single GPS system for real-time kinematic (RTK) positioning, and improves on availability and fixing rates, especially in the East Asian area. While network RTK might have different types of receivers, both for global and regional networks, different types of receiver may adopt different internal multipath mitigation methods and other techniques that result in different pseudorange characteristics, especially for a multipath. Then, the performance of wide-lane ambiguity resolution (WL AR) is affected. In this study, we first analyze and compare the characteristics of BDS dual-frequency observations for different types of receivers, including Trimble, Leica, Javad, and Septentrio, based on multipath (MP) observables, and then we assess their influence on double-differenced (DD) WL AR. The numerical results show that an obvious low-frequency component exists in MP observables of BDS geostationary earth-orbit satellites (GEOs) for Leica receivers, while its high-frequency measurement noise is very small. For geosynchronous orbit satellites (IGSOs) and medium earth-orbit satellites (MEOs), a slight fluctuation can also be observed that is similar to that of GPS satellites, except for the satellite-included code bias. In Trimble, Javad, and Septentrio receivers, the MP series are dominated by high-frequency measurement noise, both for GEOs and non-GEOs, except for satellite-included code bias. Furthermore, the characteristic of Leica receivers for BDS GEOs seriously affects WL AR and, even for a short baseline, it takes a long time for WL ambiguities to converge, or not converge for many GEO-related DD WL ambiguities, while Trimble, Javad, and Septentrio receivers perform well for short and medium baselines. Then, a time-difference method is proposed to mitigate the multipath of BDS GEOs for a Leica receiver. After applying the proposed method, WL ambiguity fixing rates of GEO-related satellite pairs are improved significantly and the convergence time is shortened from several hours to ten minutes.

GLONASS real-time wide-lane ambiguity resolution with an enhanced geometry-based model for medium-range baselines

Double-difference wide-lane integer ambiguities are determined first to assist narrow-lane ambiguity resolution in real-time medium-range baseline resolution. The Hatch-Melbourne-Wübbena (HMW) is the conventional strategy for wide-lane ambiguity resolution, which works well for GPS/Galileo/BDS. However, the un-canceled inter frequency bias (IFB) on double-difference measurement causes that the HMW combination is invalid on GLONASS wide-lane ambiguity resolution. The residual IFB in double-difference measurement may be several meters, especially between inhomogeneous stations. There is no effective method to model or tabulate ranging-codes IFB. In this paper, we propose a device-independent geometry-based model to achieve GLONASS real-time wide-lane ambiguity resolution for medium-range baselines. Since zenith tropospheric delay and slant ionospheric delay of satellites are estimated as unknown parameters, we utilize atmosphere-weighted algorithm to enhance the model strength and decrease the dependence on pseudorange measurement. For medium-range baseline, GLONASS wide-lane ambiguity float solutions can converge quickly by the geometry-based model. The cumulative frequency of WL AR can exceed 99% during 10 epochs. Benefiting from rapid and reliable wide-lane ambiguity resolution, the positioning accuracy of GPS/GLONASS RTK fixed solution are greater than 3 cm in level direction and 5 cm in upward direction for 40–100 km baselines. An approximately 35% improvement rate is observed in each direction compared with that of single GPS RTK. Since less available satellites for single-GLONASS mode, the convergence of wide-lane ambiguity becomes slower. For base stations with known coordinates, the enhanced geometry-based model can be developed to the enhanced geometry-fixed model and are applied to longer baselines. Assisting with the geometry-fixed model, more than 90% of GLONASS narrow-lane ambiguities can be fixed quickly for 80–160 km baselines. It should be noted that the accuracy of external atmospheric delay is critical to the performance of the geometry-based method. Its benefit may weaken with the increasing of baseline length, when external atmospheric delays are set as 0 directly.

Method and assessment of BDS triple-frequency ambiguity resolution for long-baseline network RTK

Fast and reliable ambiguity resolution (AR) over long baselines is one of the major challenges for large-scale GNSS network real-time kinematic (RTK) positioning. In the dual-frequency case, wide-lane (WL) ambiguities are usually fixed firstly, followed by the procedure of determination of the narrow-lane (NL) ambiguity integers based on the ionosphere-free model. For long-baseline network RTK, there are still some problems faced, for instance the WL AR still needs to take over tens of epochs due to the influence of pseudorange noises and multipath effects; the NL AR model is weak since more parameters are introduced, thus much time is needed to guarantee the precision of float ambiguity solutions. Along with the deployment of modernized GPS, BDS and other GNSS, the triple-frequency AR with real data gradually becomes feasible. Many literatures have proven the third signal will make AR faster and more reliable. In this paper based on the characteristics of network RTK, a modified ionosphere-free model was proposed to improve EWL/WL AR performance for long baselines, followed by the comparison with several commonly-used EWL/WL AR models. The NL AR performance with triple-frequency and dual-frequency observations was also tested. In NL AR, a partial AR strategy is adopted to weaken the negative influence of new-rising or low-elevation satellites. Experiments were conducted using real BDS triple-frequency data on 74km and 241km baselines. Results show that the modified ionosphere-free model can balance the ambiguity precision and ambiguity bias better for the EWL/WL AR. The NL AR with triple-frequency observations also performs significantly better than that in dual-frequency mode, with 29.9% and 32.9% improvement in time-to-first-fix (TTFF) for the 74km and 241km baselines respectively.

Rapid PPP ambiguity resolution using GPS+GLONASS observations

Integer ambiguity resolution (IAR) in precise point positioning (PPP) using GPS observations has been well studied. The main challenge remaining is that the first ambiguity fixing takes about 30 min. This paper presents improvements made using GPS+GLONASS observations, especially improvements in the initial fixing time and correct fixing rate compared with GPS-only solutions. As a result of the frequency division multiple access strategy of GLONASS, there are two obstacles to GLONASS PPP-IAR: first and most importantly, there is distinct code inter-frequency bias (IFB) between satellites, and second, simultaneously observed satellites have different wavelengths. To overcome the problem resulting from GLONASS code IFB, we used a network of homogeneous receivers for GLONASS wide-lane fractional cycle bias (FCB) estimation and wide-lane ambiguity resolution. The integer satellite clock of the GPS and GLONASS was then estimated with the wide-lane FCB products. The effect of the different wavelengths on FCB estimation and PPP-IAR is discussed in detail. We used a 21-day data set of 67 stations, where data from 26 stations were processed to generate satellite wide-lane FCBs and integer clocks and the other 41 stations were selected as users to perform PPP-IAR. We found that GLONASS FCB estimates are qualitatively similar to GPS FCB estimates. Generally, 98.8% of a posteriori residuals of wide-lane ambiguities are within $$\pm 0.25$$ cycles for GPS, and 96.6% for GLONASS. Meanwhile, 94.5 and 94.4% of narrow-lane residuals are within 0.1 cycles for GPS and GLONASS, respectively. For a critical value of 2.0, the correct fixing rate for kinematic PPP is only 75.2% for GPS alone and as large as 98.8% for GPS+GLONASS. The fixing percentage for GPS alone is only 11.70 and 46.80% within 5 and 10 min, respectively, and improves to 73.71 and 95.83% when adding GLONASS. Adding GLONASS thus improves the fixing percentage significantly for a short time span. We also used global ionosphere maps (GIMs) to assist the wide-lane carrier-phase combination to directly fix the wide-lane ambiguity. Employing this method, the effect of the code IFB is eliminated and numerical results show that GLONASS FCB estimation can be performed across heterogeneous receivers. However, because of the relatively low accuracy of GIMs, the fixing percentage of GIM-aided GPS+GLONASS PPP ambiguity resolution is very low. We expect better GIM accuracy to enable rapid GPS+GLONASS PPP-IAR with heterogeneous receivers.

Characteristics of systematic errors in the BDS Hatch–Melbourne–Wübbena combination and its influence on wide-lane ambiguity resolution

The Hatch---Melbourne---Wubbena (HMW) combination is a geometry-free and ionospheric-free (first-order) function that has been widely used for cycle slip detection and ambiguity resolution in GNSS dual-frequency data processing. We investigate the characteristics of HMW combinations for BeiDou navigation satellite system (BDS) observations for different types of satellites. We first study the characteristics of BDS undifferenced (UD) HMW combinations. Obvious systematic errors are found on BDS UD HMW combinations. The characteristics of single-differenced (SD) and double-differenced (DD) HMW combinations are then analyzed. The results indicate that the biases do not cancel in single-differencing between two satellites. On the contrary, they are amplified because of the superposition of the systematic biases of two satellite signals. In single-differencing between two receivers, different characteristics are found for different satellites types depending on baseline length. For inclined geostationary orbit (IGSO) and Medium Earth Orbit (MEO), the systematic biases cancel for single-differencing between receivers or double-differencing over short and medium baselines; however, they do not cancel in single-differencing between receivers or double-differencing over long baselines. Regarding geostationary earth orbit (GEO), the systematic biases do not cancel for single-differencing between receivers or double-differencing over both short and long baselines. In addition, we analyze the sources of the systematic biases of the BDS HMW combination. The systematic biases of IGSO and MEO HMW combinations mainly originate from multipath errors at the satellite; the systematic biases of GEO HMW combinations may also originate from multipath errors. Finally, we study the influence of the systematic errors on wide-lane ambiguity resolution by analyzing the consistency of the fractional part of the averaged SD HMW combinations and the fixing rate of DD wide-lane ambiguity resolution. The results are compared with those of GPS.