惯性辅助的单频GPS 整周模糊度快速求解

为改善法矩阵病态性，实现整周模糊度快速求解，提出惯性导航系统(inertial navigation system，INS)辅助单频GPS整周模糊度求解算法。将惯性伪距单差、GPS伪距双差、载波相位双差联立得到模糊度浮点解及其协方差阵，利用LAMBDA算法求解出整周模糊度固定解。分析引入惯性信息改善复共线性和病态性的原因，并利用GPS实测数据与仿真 INS数据进行实验验证。实验结果表明：INS辅助信息使得法矩阵条件数减小2个数量级，模糊度衰减因子下降55.81%，整周模糊度固定解求解的时间缩短75.44%，方法可行。

Fast Resolution of Single Frequency GPS Integer Ambiguity with INS Aiding

In order to improve the ill-condition of normal matrix and achieve ambiguity fast resolution, an inertial navigation system (INS) aided GPS integer ambiguity algorithm is proposed. INS single-difference pseudo range, GPS double-difference pseudo range and GPS double-difference carrier phase is used to get the float ambiguities and their variance-covariance matrix. Then LAMBDA algorithm is used to get the integer ambiguity. The reason why INS aided information can improve collinear and ill-condition is analyzed. Finally, an experiment is conducted with the GPS test data and the inertial navigation data from simulation. The results show that, with INS aided information, the condition number of normal matrix is dropping two orders of magnitude, 55.81% reduction of ADOP and 75.44% less time to resolve integer ambiguity. The method is feasible.