Post-processing GNSS/INS Measurements Using a Tightly Coupled Fixed-Interval Smoother Performing Carrier Phase Ambiguity Resolution

R. Monikes, A. Teltschik, J. Wendel and G.F. Trommer

Abstract:	This paper describes a high accurate tightly coupled, differentially corrected GNSS/INS system for survey applications in post-processing mode. A Kalman filter is described, that calculates the navigation solution as well as the the GNSS carrier phase integer ambiguities. The LAMBDA method is used to resolve the integer ambiguities. To achieve an optimum solution based on all measurement data available, a Rauch-Tung- Striebel smoother is used. The combination of tight integration and smoothing results in a system which is capable to resolve almost all of the carrier phase ambiguities and therefore provides centimeter accuracy, even if satellites are only available for short periods. The smoother provides steady results without discontinuities and bridges GNSS outages well. Hence, the system overcomes problems which are typical for kinematic ground surveys.
Published in:	Proceedings of IEEE/ION PLANS 2006 April 25 - 27, 2006 Loews Coronado Resort Hotel San Diego, CA
Pages:	283 - 290
Cite this article:	Monikes, R., Teltschik, A., Wendel, J., Trommer, G.F., "Post-processing GNSS/INS Measurements Using a Tightly Coupled Fixed-Interval Smoother Performing Carrier Phase Ambiguity Resolution," Proceedings of IEEE/ION PLANS 2006, San Diego, CA, April 2006, pp. 283-290. https://doi.org/10.1109/PLANS.2006.1650614
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