Absolute Precise Kinematic Positioning with GPS and GLONASS

B.W. Tolman, A. Kerkhoff, D. Rainwater, D. Munton, J. Bank

Abstract:	The last decade has seen a significant growth in the development of GNSS Precise Point Positioning (PPP) techniques. Applied Research Laboratories, The University of Texas at Austin (ARL:UT) has developed a PPP software suite for use in precise surveying and geodetic analysis applications. It has been extensively tested with both monitor station and field-quality static GPS data, and consistently yields absolute position solutions with centimeter level accuracy and repeatability, given several hours of dual frequency GPS data. This software has now been extended to make use of GLONASS measurements, and to support a moving receiver. This Precise Kinematic Positioning (PKP) software, like the PPP software, is built around a Kalman filter. This paper describes the ARL:UT PKP software, including the design of the Kalman filter and a linearization technique that entirely removes the receiver dynamics from the filter problem. Data preprocessing and editing are critical to precise positioning, particularly for a kinematic application where cycleslips and reduced data quality are common. The preprocessing algorithms in the software will be described. The necessary changes made to the software to include GLONASS measurements will also be briefly discussed. Results of both static and ground-based kinematic GPS and GLONASS data collections are presented. These tests will be described and results will be presented, including comparisons to both a GPS carrier-phase differential solution produced by commercial software, and that of a publicly available PKP service. The accuracy of the final PKP result, and the net effect of adding GLONASS data to both PPP and PKP, will be discussed. Finally, some initial results on an application to airborne LIDAR are presented.
Published in:	Proceedings of the 23rd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2010) September 21 - 24, 2010 Oregon Convention Center, Portland, Oregon Portland, OR
Pages:	2565 - 2576
Cite this article:	Tolman, B.W., Kerkhoff, A., Rainwater, D., Munton, D., Bank, J., "Absolute Precise Kinematic Positioning with GPS and GLONASS," Proceedings of the 23rd International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS 2010), Portland, OR, September 2010, pp. 2565-2576.
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