On-the-fly GNSS Ambiguity Resolution With Inertial Tightly Aiding

In this paper,we focus on the method of GNSS Ambiguity,and propose a method to solve the GNSS Ambiguity.The method of GNSS ambiguity is proposed.Then,A complete simulation experiment is designed.At first,to solve the problem,the paper introduces some methods of GNSS Ambiguity,and introduces the steps of the general method of solving the Ambiguity of GNSS.Prepare for the GNSS Ambiguity Resolution with Inertial tightly Aiding presented in this paper.Secondly,the paper introduces the method of GNSS Ambiguity of inertial tightly aiding,and establishes the error state differential equation,which is based on the error state variables with ambiguity.Then we discrete the differential equation,and the dynamic model of the method is established.The n according to the model of GNSS,the measurement equation of the error state is established based on combination model.and this model is the measurement model.From this,we complete filtering the error state and the ambiguity.At last,we make the filtering error state up to the state variables.In order to get the integral ambiguity,we use LAMBDA search for the ambiguity.After that,the paper designs a set of simulation system which is based on a planar 8 shape trajectory motion simulation system.Based on the set of planar motion simulation system based on inclined plane,four different sets of simulation experiments are designed.The sets of different measurement errors are designed.Then,we use the general method of solving the Ambiguity of GNSS and the GNSS Ambiguity Resolution with Inertial tightly Aiding to process the four different sets separately.we compare with the mission success rate and the fixed time consuming of these two methods to compare the difference between these two methods.The results are:(1)The method of GNSS ambiguity resolution with inertial tightly aiding can effectively improve the success rate of the satellite ambiguity resolution.(2)The method of GNSS ambiguity resolution with inertial tightly aiding is a very effective method for reducing the time required by the integer fixed.(3)It is possible to provide a new method for solving ambiguity under variable baseline condition.Finally,the main work and innovation points of this paper are summarized.