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Solution separation-based integrity monitoring for RTK positioning with faulty ambiguity detection and protection level

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Abstract

Due to the multipath and signal shading effects, there exist biases in the carrier phase measurements, which degrades the reliability of ambiguity resolution in real-time kinematic (RTK) positioning and, subsequently, the positioning accuracy. Integrity monitoring is an effective way to measure, improve, and guarantee the correctness of the RTK positioning solutions, but most integrity monitoring has focused only on the pseudorange faults and further the traditional ambiguity validation methods cannot monitor faulty ambiguity resolution separately. To provide high accuracy and high reliability for safety–critical applications, this study proposes a solution separation (SS)-based method for integrity monitoring of RTK precise positioning, in which the SS failure mode and test statistics are used to monitor the reliability of fixed ambiguity solutions by detecting faulty ambiguity fixes and bound positioning errors in the position domain using protection level (PL). The vehicular test with a low-cost receiver shows that the SS method can effectively detect and exclude fault ambiguity resolutions by 98.35%, and the double-difference residuals of SS are reduced from 6.89 cm to 2.56 cm. The positioning accuracy with the SS method has gained an 83.64% improvement compared with the traditional methods. The horizontal PL and the vertical PL can also effectively bound the positioning errors, with average values of 4.49 cm and 12.25 cm, respectively. The SS PL can achieve 99.17% and 96.14% in the horizontal and vertical directions to provide normal integrity service, respectively.

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Data availability

The GNSS dataset associated with this study is publicly accessible in the GitHub repository (https://github.com/Yuting1117/SS-IM-RTK-low-cost).

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Acknowledgements

The financial support was provided by the National Natural Science Foundation of China (42204034, 42127802), the Natural Sciences and Engineering Research Council of Canada (NSERC), the Key Project of Science and Technology Research provided by the Henan Province under Grant 212102210085, and in part by the Fundamental Research Funds for the Universities of Henan Province under Grant NSFRF210309.

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Authors and Affiliations

  1. College of Geomatics, Xi’an University of Science and Technology, Xi’an, China

    Yuting Gao

  2. Department of Geomatics Engineering, University of Calgary, Calgary, Canada

    Yang Jiang & Yang Gao

  3. College of Geology Engineering and Geomatics, Chang’an University, Xi’an, China

    Guanwen Huang

  4. Department of Geomatics Engineering, Henan Polytechnic University, Jiaozuo, China

    Zhe Yue

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  1. Yuting Gao
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  2. Yang Jiang
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  3. Yang Gao
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Correspondence to Yang Jiang.

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Gao, Y., Jiang, Y., Gao, Y. et al. Solution separation-based integrity monitoring for RTK positioning with faulty ambiguity detection and protection level. GPS Solut 27, 140 (2023). https://doi.org/10.1007/s10291-023-01472-y

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