Reliable Integer Ambiguity Resolution

Abstract

In this paper, a maximum a posteriori probability estimation of baselines and ambiguities is proposed for RTK and attitude determination. The estimator uses statistical a priori information about the baseline length, pitch and heading, and thereby improves the accuracy of the float solution. It is more robust than traditional attitude determination techniques with deterministic baseline constraints. The inertia of the receivers are considered in a movement model, which is integrated into an extended Kalman filter. Moreover, a new set of multi-frequency code carrier linear combinations is derived, which enables an arbitrary scaling of the geometry, an arbitrary scaling of the ionospheric delay, and any preferred wavelength.