Robust Positioning with Single Frequency Inertially Aided RTK

Bruno M. Scherzinger

Abstract:	This paper describes an inertially aided RTK (IARTK) positioning system using single frequency GPS receivers. The test platform is a Position and Orientation System for Land Vehicles (POS/LV) under development at Applanix, whose design objectives are to achieve robust positioning with decimeter-level accuracy during various levels of satellite coverage ranging from total outage to complete coverage. The single frequency tests described here are intended to demonstrate the significant improvement in ambiguity resolution that IARTK is capable of. This paper first describes the IARTK architecture implemented in the POS/LV. The paper then describes the IARTK experiment with only L1 observables. The experiment comprised a series of tests of RTK performance over baselines up to 6 kilometers. The test results show that the IARTK algorithm requires between 90 seconds and 10 minutes to establish an initial L1 integer ambiguity resolution, as would be expected. Thereafter the IARTK algorithm recovers L1 integer ambiguities within 10 seconds following outages up to 30 seconds. These results show that IARTK can provide rapid L1 ambiguity resolution over baselines out to 5 kilometers. They demonstrate the significant difference that inertial aiding makes on time to fix ambiguities through the reduction of search space volume.
Published in:	Proceedings of the 2002 National Technical Meeting of The Institute of Navigation January 28 - 30, 2002 The Catamaran Resort Hotel San Diego, CA
Pages:	911 - 917
Cite this article:	Scherzinger, Bruno M., "Robust Positioning with Single Frequency Inertially Aided RTK," Proceedings of the 2002 National Technical Meeting of The Institute of Navigation, San Diego, CA, January 2002, pp. 911-917.
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