• Journal of Institute of Control, Robotics and Systems
• /
• v.5 no.1
• /
• pp.62-68
• /
• 1999

The attitude of a vehicle can be precisely determined using GPS carrier phase measurements from more than two antennas attached to a vehicle and an efficient integer ambiguity resolution technique. Many methods utilizing the known baseline length as a constraint of independent elements of integer ambiguities are proposed to resolve integer ambiguity at real time. Three-dimensional search space is reduced to two-dimensional search space with this constraint. Thus the true integer ambiguity can be easily determined with less computational burden and fewer number of measurements. But there are still strong requirements for the real time integer ambiguity resolution, which uses single epoch measurement of long baseline. In this paper, a new constraint from the geometry of multiple baselines is derived. With this new constraint, two-dimensional search space is further reduced to one-dimensional search space. It makes possible to determine integer ambiguity with single epoch measurement. The proposed method is applied to real data to show its effectiveness.

• Journal of Positioning, Navigation, and Timing
• /
• v.7 no.4
• /
• pp.235-243
• /
• 2018

Conventional Real Time Kinematics (RTK) collect measurements in stationary state for several minutes to resolve the integer ambiguity in the carrier phase measurement or resolve the integer ambiguity on the move assuming low maneuvering movement. In this paper, an On The Move-RTK (OTM-RTK) technique that resolves the integer ambiguity on the move for fast and precise positioning of ground vehicles such as high maneuvering vehicles was proposed. The OTM-RTK estimates the precise amount of movement between epochs using the carrier phase measurements acquired on the move, and by using this, resolves the integer ambiguity within a short period of time by evaluating the integer ambiguity candidates for each epoch. This study analyzed the integer ambiguity resolution performance using field driving experiment data in order to verify the performance of the proposed method. The results of the experiment showed that the precise trajectory including the initial position bias can be obtained prior to resolving the integer ambiguity, and after resolving the integer ambiguity on the move, it was possible to obtain the bias-corrected precise position solution. It was confirmed that the integer ambiguity can be resolved by collecting measurements of about 10 epochs from the moving vehicle using a dual frequency receiver.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.37 no.7
• /
• pp.678-684
• /
• 2009

Many researches on the GNSS integer ambiguity resolution methods for precise positioning and attitude determination applications have been done. However, by the time invariant property of the integer ambiguity, the reuse of integer ambiguity without performing time consuming integer search procedure is possible. In this paper, a new efficient integer ambiguity propagation method is proposed. The initial integer ambiguity can be determined using the famous LAMBDA method and it is propagated with the propagation method. The proposed method can reconfigure the integer ambiguity using the previous epoch's integer ambiguity and new carrier phase measurements under environmental variations such as geometry changes, signal blockage and reacquisition. Experiments with real measurements show the proposed method can determine an integer ambiguity effectively.

• Journal of Institute of Control, Robotics and Systems
• /
• v.6 no.8
• /
• pp.719-726
• /
• 2000

A real-time precise positioning is possible with GPS carrier phase measurements with efficient integer ambiguity resolution techniques. It is known that more reliable and fast integer ambiguity resolution is possi-ble as the number of measurements increases. Most precise positioning systems use dual frequency measurements and the wide-lnae technique to resolve integer ambiguity. The wide-lane technique magnifies the measurement noise while it reduces the number of candidates to be examined. In this paper a new integer ambiguity resolution method using dual frequency is proposed The proposed method utilizes the relationship between the wide-lane single frequency and the narrow-lane ambiguities to resolve narrow-lane integer ambiguity after fixing the wide-lane integer ambiguity. Experiments with real data show that the proposed method gives fast and reliable results.

• Journal of Navigation and Port Research
• /
• v.39 no.1
• /
• pp.15-21
• /
• 2015

In high precision positioning systems based on GNSS, ambiguity resolution is an important procedure. Correct ambiguity leads to positioning results which have high precision between millimeters and centimeters. However, when the ambiguity is determined incorrectly, ensuring accuracy and precision of the positioning result is impossible. An ambiguity validation test is required to obtain correct ambiguity when ambiguity resolution is performed based on the ILS (Integer Least Squares), which shows the best performance in point of theory and experiment when compared with other methods such as IR (Integer Rounding) and IB (Integer Bootstrapping). Comparison between the candidates of the validation test is needed to judge ambiguity correctly, because ILS searches for candidates of integer ambiguity, unlike other methods which calculate only one integer ambiguity. We analyzed the experimental performance of ambiguity validation tests. R-ratio, F-ratio and W-ratio were adopted for analysis. The performance of validation tests was evaluated by classifying normal operation, detection, missed detection and false alarm. As a result, strengths and weaknesses of validation tests was showed to experimental. we concluded that validation tests must be selected according to environment.

• Journal of Institute of Control, Robotics and Systems
• /
• v.14 no.6
• /
• pp.587-594
• /
• 2008

In this paper, an efficient integer ambiguity resolution method for GNSS attitude determination system is described. The proposed method solves the integer least-squares with quadratic equality constraints(ILSQE) problem and shows an expansion of the LAMBDA method can be used to solve it. The solution of ILSQE is shown and an efficient implementation with a LAMBDA based method is given. The method is compared with some other methods. The results of static and dynamic tests show the dramatic improvement of the success rates of integer ambiguity resolution.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.60 no.12
• /
• pp.2318-2325
• /
• 2011

The quality of float solution deeply influences the performance of CDGPS because the theories being used in the integer ambiguity resolution method are derived under the assumption of AWGN. But in real world, the properties of noises are far from AWGN, especially when multipath are concerned. It results in the bias in float solution which affects the success rate of integer ambiguity and the precision of position in CDGPS. This paper designs an augmented Kalman filter using shaping filter and Kalman filter for the performance improvement of CDGPS on multipath. The experimental results with real measurements show that the correct integer ambiguity is always found while the success rates of WLSQ and ordinary Kalman filter are 5% and 18%, respectively. Eventually, the position accuracy is also improved by using the proposed algorithm.

• Journal of Institute of Control, Robotics and Systems
• /
• v.3 no.6
• /
• pp.602-612
• /
• 1997

With GPS carrier phase measurements from more than two antenna which attached to the vehicle, precise attitude can be easily obtained if the integer ambiguity included in carrier phase measurement is resolved. Recently some special products which use dual frequencies or has one receiver engine with multiple antenna are announced. But there are still strong requirements for the conventional single frequency off-the-shelf receiver. To meet these requirements, an efficient integer ambiguity resolution technique is indispensable. In this paper, a new technique to resolve integer imbiguity with single frequency receivers is proposed. The proposed method utilize the known baseline length as a constraint of independent elements of integer ambiguities. With this constraints, the size of search volume can be greatly reduced. Thus the true integer ambiguity can be easily determined with less computational burden and number of measurements. The proposed method is applied to real data to show its effectiveness.

• 제어로봇시스템학회:학술대회논문집
• /
• 2000.10a
• /
• pp.51-51
• /
• 2000

The ambiguity resolution is an essential task for the precise carrier phase differential GPS. In practice, however, there are still many problems in resolving the ambiguity in kinematic mode, especially in the urban areas. The multipath in received signal, the frequent change in visible satellites, and the cyclic slips make the ambiguity resolution very difficult task in real-time operation. In this paper, we consider a differential positioning with the float ambiguity that is free from the integer constraint. The float ambiguity estimation if carried out by the Kalman filter. The float and fixed ambiguities are combined together to determine the position in real-time kinematic mode.

• International Journal of Control, Automation, and Systems
• /
• v.4 no.3
• /
• pp.333-343
• /
• 2006

In this paper, the baseline-length information is directly modeled as a measurement for the Wald test, which speeds up the resolution convergence of the integer ambiguity of GPS carrier phase measurements. The convergent speed improvement is demonstrated using numerical simulation and real experiments. It is also shown that the integer ambiguities can be resolved using only four actual satellite measurements with very reasonable convergence speed, if the baseline-length information is used just like one additional observable satellite measurement. Finally, it is shown that the improvement of convergence speed of the Wald test is due to the increase of the probability ratio with the use of the baseline-length constraint.