Research On The Kinematic Positioning Technique With GPS Carrier Phase Measurements

The key problems of GPS carrier phase measurement are how to solve the integer ambiguity of GPS carrier and how to detect and compensate the cycle slip of GPS carrier in the period of navigation process. It is easy to solve the problem if the vehicle keeps stationary; while it is difficult to solve the problem if the vehicle runs, especially runs in high speed. The solution used for solving the integer ambiguity of GPS carrier signal and the method used for detecting the cycle slip of GPS carrier signal when the vehicle run in high speed are analyzed and discussed in detail in the paper. A solution for solving the integer ambiguity and a method for detecting the cycle slip are presented.Firstly, the principle of GPS kinematical carrier phase measurement positioning is introduced concisely. The mathematical mode of GPS carrier phase measurement absolution positioning is discussed and provided. A way to obtain the difference between the true location and the estimated location is proposed. Secondly, the solution for solving the integer ambiguity of GPS carrier signal is researched. A new solution is presented. Two steps are included in the solution. The first step is to get the floating value by integrating the integer ambiguity of GPS carrier signal as a state variable with INS. The second step is to get the fix value by integral filter algorithm. Thirdly, the methods for detecting and compensating the cycle slip are researched. A kind of detecting method is provided and confirmed by simulation. The realization of the method depends on the high precise of GPS/INS. Finally, some conclusions are obtained, some new ideals are provided.