A Reconfigurable Kalman Filtering Approach for OTF Integer Ambiguity Resolution in Precision GPS Navigation

Jong-Hoon Won, Sun-Jun Ko and Ja-Sung Lee

Abstract:	This paper presents a practical Carrier Differential GPS(CDGPS) algorithm for real-time precision positioning with low cost, L1 single frequency, conventional C/A code GPS receivers. The proposed algorithm includes an On-The-Fly(OTF) integer ambiguity resolution algorithm based on the Kalman filter which is designed to generate minimal search space from the coarse and correlated measurement of such non-dedicated receivers. An efficient state reconfiguration scheme is derived to deal with the variation of integer ambiguity states caused by varying sets of the visible GPS satellites. Simulation and field test results, performed both in static and kinematic environments, are presented to show that the algorithm achieves a cm-level accuracy.
Published in:	Proceedings of the 2001 National Technical Meeting of The Institute of Navigation January 22 - 24, 2001 Westin Long Beach Hotel Long Beach, CA
Pages:	565 - 575
Cite this article:	Won, Jong-Hoon, Ko, Sun-Jun, Lee, Ja-Sung, "A Reconfigurable Kalman Filtering Approach for OTF Integer Ambiguity Resolution in Precision GPS Navigation," Proceedings of the 2001 National Technical Meeting of The Institute of Navigation, Long Beach, CA, January 2001, pp. 565-575.
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