Triple-Frequency PPP-AR with Tightly Coupled INS for Enhanced Positioning

Tang-Jhen Wu and Shau-Shiun Jan

Peer Reviewed

Abstract:	This paper aims to integrate triple-frequency precise point positioning with ambiguity resolution (PPP-AR) and Inertial Navigation System (INS) by using tightly coupled integration (TCI) and analyze the performance in dynamic scenarios in suburban and suburban-urban environments. PPP-AR is a technique that fixes the carrier-phase integer ambiguities to integer values, thereby eliminating a part of the uncertainty sources in phase observations. Triple frequency can further increase the success rate of integer ambiguity fixing because the system allows the construction of extra wide lane (EWL), wide lane (WL), and narrow lane (NL) linear combinations. Float EWL and WL ambiguities are calculated by the Hatch-Melbourne-Wubbena linear combination, and their single-difference (SD) ambiguities are taken as their integers since the fractional cycle is small enough. In contrast, the integer SD NL ambiguities require resolution via the least-squares AMBiguity Decorrelation Adjustment method. The extended Kalman filter estimates the state and enables the integration of the two independent systems. However, PPP-AR/INS with TCI has not been investigated. The feature of the integration system is that it can reduce the search space for integer ambiguities and enhance the convergence time. According to the dynamic experiment in a suburban environment, the proposed method’s root mean square (RMS) errors in the east, north, and up directions are 0.20, 0.19, and 0.11 meters, respectively. The positioning result of PPP-AR/INS compared to PPP improves by 60%. According to the dynamic experiment in the suburban-urban environment, the RMS errors of the proposed method in the east, north, and up directions are 0.10, 0.09, and 0.05 meters, respectively. The positioning result of PPP-AR/INS compared to that of PPP shows an improvement of 35%.
Published in:	Proceedings of the 38th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2025) September 8 - 12, 2025 Hilton Baltimore Inner Harbor Baltimore, Maryland
Pages:	1914 - 1925
Cite this article:	Wu, Tang-Jhen, Jan, Shau-Shiun, "Triple-Frequency PPP-AR with Tightly Coupled INS for Enhanced Positioning," Proceedings of the 38th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2025), Baltimore, Maryland, September 2025, pp. 1914-1925. https://doi.org/10.33012/2025.20424
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