Abstract:

The positioning and attitude system based on the difference global positioning system/inertial navigation system (DGPS/INS) integration is widely used in the precise mobile surveying area. However, the DGNSS/INS integration requires the support of base stations, which limits the working range and increases the system cost and complexity. Although the ambiguity-float precise point positioning (PPP)/INS integration does not need base stations, it requires a lot of convergence time and its positioning accuracy is restricted, which are caused by the float ambiguities. A new integration that tightly fuses the ambiguity-fixed PPP and INS is proposed. The system and measurement models of the new integration are described in detail. Validation of the new integration by using the real vehicle test data is made. The test results show that only using a single receiver, the new integration can achieve its first fixed solution in about ten minutes; and once the ambiguities are successfully fixed, the positioning error dramatically declines from the decimeter level to the stable centimeter level.