Instantaneous RTK Positioning with Altitude-aiding for ITS Applications

Nobuaki Kubo and Akio Yasuda

Abstract:	Future services of ITS will include autonomous ground vehicle navigation and dynamic prevention of traffic accidents. Although the practical use of an autonomous ground vehicle id difficult in the near future, the key technology to realize this service is real-time high accuracy positioning within 10cm for which the instantaneous real time kinematic (RTK) technique is presently being focused upon. The objective of this paper is not only to improve reliability but also availability in RTK positioning. Single-epoch ambiguity resolution has been tested using raw GPS data in a dense urban area. Single-epoch fixing is essential for employing the RTK technology in vehicles because nuisance cycle slips can be neglected. Land applications can use altitude- aiding to significantly assist in ambiguity resolution. In this study, in order to use altitude- aiding, precise map information was combined with RTK positioning. Our proposed method has been tested according to the data acquired from a course in Tokyo that was surrounded by a pedestrian bridge and many buildings. On the basis of these results, the FIX rate was increased from 47.5% to 90.0% during periods where the number of visible satellites was more than 4. Further, a single-epoch FIX rate was dramatically increased: the FIX rate implies the percentage of correct fixing times.
Published in:	Proceedings of the 20th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2007) September 25 - 28, 2007 Fort Worth Convention Center Fort Worth, TX
Pages:	1447 - 1455
Cite this article:	Kubo, Nobuaki, Yasuda, Akio, "Instantaneous RTK Positioning with Altitude-aiding for ITS Applications," Proceedings of the 20th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2007), Fort Worth, TX, September 2007, pp. 1447-1455.
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