A novel ambiguity resolution model of BeiDou navigation satellite system/inertial navigation system tightly coupled for kinematic-to-kinematic precise relative positioning

Ling Wu, Yongrong Sun, Xiyu Fu and Qinghua Zeng

International Journal of Distributed Sensor Networks, 2022, vol. 18, issue 6, 15501329221102734

Abstract: The carrier-based kinematic-to-kinematic relative positioning can obtain the precise baseline between two moving stations, which greatly expands the application field of dynamic relative positioning. However, the relative positioning performance is degraded greatly with low fixation rate of ambiguity with low-cost receivers. Especially, in the complex dynamic environment, ambiguity resolution effect is influenced by the satellite signal blocked, multipath outlier, and abnormal state prediction. Aiming at the problems, a novel inertial navigation system–aided robust adaptive filtering ambiguity resolution model is proposed. In addition, a hierarchical filtering strategy is developed to eliminate ambiguity parameters in BeiDou navigation satellite system/inertial navigation system tightly coupled integrated system. Finally, the precise relative position can be calculated with the “best†ambiguity solution. Both experiments with static data and field vehicle test were carried out to evaluate the algorithm efficiency in different data configurations. The results indicate that IRAFAR-TCRP method can effectively suppress the influence of observation outliers and model prediction abnormalities, which improves the success rate of ambiguity resolution, raises the accuracy as well as the continuity of relative positioning. The success rate of ambiguity resolution with single-frequency BeiDou navigation satellite system can reach 90% in the gross error and abnormal disturbance environments and centimeter-level accuracy can be achieved.

Keywords: Ambiguity resolution; robust adaptive filtering; tightly coupled; BeiDou navigation satellite system/inertial navigation system; relative positioning (search for similar items in EconPapers)
Date: 2022
References: Add references at CitEc
Citations:

Downloads: (external link)
https://journals.sagepub.com/doi/10.1177/15501329221102734 (text/html)

Related works:
This item may be available elsewhere in EconPapers: Search for items with the same title.

Export reference: BibTeX RIS (EndNote, ProCite, RefMan) HTML/Text

Persistent link: https://EconPapers.repec.org/RePEc:sae:intdis:v:18:y:2022:i:6:p:15501329221102734

DOI: 10.1177/15501329221102734

Access Statistics for this article

More articles in International Journal of Distributed Sensor Networks
Bibliographic data for series maintained by SAGE Publications ().