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惯导辅助GNSS整周模糊度快速固定算法与实现.docx

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惯导辅助GNSS整周模糊度快速固定算法与实现 Title:FastAmbiguityResolutionAlgorithmandImplementationforCarrier-phaseGNSS-basedInertialNavigationSystems Abstract: GlobalNavigationSatelliteSystems(GNSS)provideaccuratepositioninginformationforvariousapplications.However,theGNSSpositioningaccuracycanbelimitedbyatmosphericphenomenaandothererrorsources.OneapproachtoovercometheselimitationsistheintegrationofGNSSwithanInertialNavigationSystem(INS).ThecombinedGNSS-INSsystemimprovespositioningaccuracy,butitrequiresresolvingthecarrier-phaseambiguitiestoachievecentimeter-levelaccuracy.ThispaperpresentsafastambiguityresolutionalgorithmanditsimplementationforGNSS-INSsystems. 1.Introduction 1.1ProblemStatement 1.2Motivation 1.3Objectives 2.Background 2.1GlobalNavigationSatelliteSystems 2.2GNSS-basedInertialNavigationSystems 2.3ChallengesinAmbiguityResolution 3.AmbiguityResolutionAlgorithms 3.1IntegerLeastSquares(ILS)Method 3.2LAMBDAMethod 3.3OtherExistingMethods 3.4LimitationsofExistingMethods 4.ProposedFastAmbiguityResolutionAlgorithm 4.1Overview 4.2Initialization 4.3IntegerAmbiguitySearchandSelection 4.4FastCycleSlipDetectionandRecovery 4.5IntegerAmbiguityEstimation 4.6PerformanceEvaluationMetrics 5.ImplementationDetails 5.1SoftwareArchitecture 5.2DataProcessingSteps 5.3IntegrationwithanInertialNavigationSystem 5.4Real-timevs.Post-processingImplementation 6.ExperimentalResults 6.1DatasetDescription 6.2PerformanceEvaluationMetrics 6.3ComparisonwithExistingMethods 7.Discussion 7.1AnalysisofResults 7.2LimitationsandFutureWork 8.Conclusion 8.1SummaryofContributions 8.2ImpactonGNSS-basedNavigationSystems 8.3FinalRemarks References Theintroductionsectionprovidesanoverviewoftheproblemstatement,themotivationbehindtheresearch,andtheobjectivestobeachieved.IthighlightsthelimitationsofGNSSpositioningaccuracyandtheneedforambiguityresolutioninGNSS-INSintegration. ThebackgroundsectionpresentsabriefexplanationofGNSSandINSsystems,alongwiththechallengesfacedinresolvingcarrier-phaseambiguities.Thissectionalsoreviewsexi