Paper Info
Title
High reliability integer ambiguity resolution of 6DOF RTK GPS/INS
Abstract
This article presents a Contemplative Realtime (CRT) framework to resolve a vector of carrier phase integer ambiguities existing in Real-Time Kinematic GPS aided inertial navigation systems (RTK GPS/INS). Within this CRT framework, a Maximum-a-Posteriori (MAP) estimation method is derived to represent the RTK GPS/INS problem, and solved by Nonlinear Mixed Integer Least Square (NMILS) approach. This approach allows the utilization of multiple epochs of GPS data with INS defined motion constraints over a time interval. The NMILS approach over time intervals allows hypothesis testing on each interval to contemplate alternative fault detection hypotheses. The objectives are to enhance reliability and accuracy. Implementation results are included that demonstrate the performance of the proposed method achieving centimeter position accuracy.
Year
DOI
Venue
2014
10.1109/CDC.2014.7040426
CDC
Keywords
Field
DocType
global positioning system,nonlinear mixed integer least square approach,fault detection,nonlinear programming,maximum likelihood estimation,telecommunication network reliability,nmils approach,crt framework,integer programming,dof rtk gps-ins,high reliability integer ambiguity resolution,hypothesis testing,least squares approximations,reliability enhancement,maximum-a-posteriori estimation,fault diagnosis,real-time kinematic gps aided inertial navigation system,kinematics,map estimation,inertial navigation,contemplative realtime
Least squares,Inertial navigation system,Kinematics,Computer science,Fault detection and isolation,Control theory,GPS/INS,Global Positioning System,Real Time Kinematic,Statistical hypothesis testing
Conference
ISSN
Citations 
PageRank 
0743-1546
1
0.36
References 
Authors
8
4
Name
Order
Citations
PageRank
Yiming Chen151.48
Sheng Zhao2334.05
Dongfang Zheng3123.10
Jay A. Farrell486269.84