Title: Single-Epoch Ambiguity Resolution for Urban Ultra-Short Baseline Attitude Determination Using Low-Cost GNSS Receivers
Author(s): Wenyi Li, Xiaowei Cui, Sihao Zhao, Mingquan Lu
Published in: Proceedings of the 30th International Technical Meeting of The Satellite Division of the Institute of Navigation (ION GNSS+ 2017)
September 25 - 29, 2017
Oregon Convention Center
Portland, Oregon
Pages: 4026 - 4037
Cite this article: Li, Wenyi, Cui, Xiaowei, Zhao, Sihao, Lu, Mingquan, "Single-Epoch Ambiguity Resolution for Urban Ultra-Short Baseline Attitude Determination Using Low-Cost GNSS Receivers," Proceedings of the 30th International Technical Meeting of The Satellite Division of the Institute of Navigation (ION GNSS+ 2017), Portland, Oregon, September 2017, pp. 4026-4037.
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Abstract: Integer ambiguity resolution (AR) is the key to the attitude determination with global navigation satellite system (GNSS) differential carrier phases. Traditional applications in surveying field are generally performed in open areas with geodeticgrade receivers, and solve the AR problem in ambiguity domain. However, for some applications such as urban vehicle/unmanned air vehicle (UAV) attitude determination with single-frequency low-cost receivers, the AR success rate is not as satisfactory as the one in surveying field. Due to the reasons such as low-cost receivers’ inferior pseudorange quality, multipath interference and frequent cycle slips in complicated urban environment, it is difficult to give an accurate estimation for the float ambiguities which is used as the search center of the traditional AR methods in ambiguity domain, thus leading to the failure of finding the correct ambiguities. Here, we propose a single-epoch AR method in position domain to improve the AR success rate of urban attitude determination for ultra-short baselines. To get rid of the effect of the large pseudorange noise, our proposed algorithm abandons both the pseudorange measurements and the traditional idea of estimating the float ambiguities. With the known baseline length, the 3-D position search space can be compressed to a spherical surface, and by a 2-D traversal in angle domain, we can get a set of candidate position points. With the use of the integer property of the ambiguities and the geometric relationship between the position search space and carrier phase measurements, we establish an objective function whose performance relies on the carrier phases and geometric distribution only, and thus, the algorithm can provide a higher AR success rate. The corresponding 2-D traversal method and acceptance test method for validity judgment are also addressed in the paper. The results of both the simulation and the experiment under actual multipath environment are presented at the end of the paper.