RTK-PPP Algorithms using GNSS Observables from Few Satellites

A. Chabata, Y. Suzuki, Y. Kubo and S. Sugimoto

Abstract:	In this paper, we present RTK-PPP (Real Time Kinematic - Precise Point Positioning) algorithms using GNSS observ- ables from few available satellites. Namely, we propose the practical GNSS navigation algorithms for automobiles which move on the street in the urban canyon. In the ur- ban area, we often obtain GNSS observables from very few available satellites. In this paper we present practical RTK- PPP algorithms for such circumstance. The proposed RTK-PPP algorithm is based on the con- straint of the automobile altitude in the locally level co- ordinate system (LLCS), instead of using the WGS-84 co- ordinate system. The constraint of the automobile altitude is provided by the form of additional measurement data to GNSS observables such as pseudoranges and L1 and L2 carrier phases. Also the statistical moving models of auto- mobiles are presented. The moving models of accelerations for the east and north coordinates, and of the velocity for the altitude coordinate of the automobile are assumed as first order Markov models, respectively. Namely, the east and north coordinates of the automobile are assumed re- spectively as the so-called Singer’s moving model. Also we utilize the Doppler data for estimating the velocities of automobiles such that provide more accurate position- ing of automobile in the urban area under the occasion offew satellite observables. Furthermore, we examine to con- struct the more accurate statistical model of the receiver’s clock error based on the maximum likelihood method. Finally experimental results of the data received by the au- tomobile on the road as well as on the streets in the ur- ban area, Shinjuku, Tokyo, are shown for the feasibility and usefulness of our proposed RTK-PPP algorithms using GNSS Observables from few available satellites
Published in:	Proceedings of the 25th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2012) September 17 - 21, 2012 Nashville Convention Center, Nashville, Tennessee Nashville, TN
Pages:	3696 - 3707
Cite this article:	Chabata, A., Suzuki, Y., Kubo, Y., Sugimoto, S., "RTK-PPP Algorithms using GNSS Observables from Few Satellites," Proceedings of the 25th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2012), Nashville, TN, September 2012, pp. 3696-3707.
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