An integer ambiguity resolution procedure for GPS/pseudolite/INS integration

In order to achieve a precise positioning solution from GPS, the carrier-phase measurements with correctly resolved integer ambiguities must be used. Based on the integration of GPS with pseudolites and Inertial Navigation Systems (INS), this paper proposes an effective procedure for single-frequency carrier-phase integer ambiguity resolution. With the inclusion of pseudolites and INS measurements, the proposed procedure can speed up the ambiguity resolution process and increase the reliability of the resolved ambiguities. In addition, a recently developed ambiguity validation test, and a stochastic modelling scheme (based on-line covariance matrix estimation) are adapted to enhance the quality of ambiguity resolution. The results of simulation studies and field experiments indicate that the proposed procedure indeed improves the performance of single-frequency ambiguity resolution in terms of both reliability and time-to-fix-ambiguity.