Precise Robust Positioning with Inertially Aided RTK

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Abstract
This paper addresses the problem of “robust” positioning, which is the ability of a positioning system to determine position with continuous accuracy in spite of GPS outages. The paper describes an aided INS (AINS) with inertially aided RTK (IARTK) as one solution to a robust RTK positioning problem. It describes the design of the IARTK-AINS and discusses the factors that control the maximum outage duration for rapid fixed integer ambiguity recovery and the position accuracy during the outage. The IARTK-AINS implements tightly coupled inertial/GPS integration with floated ambiguity estimation and fixed integer search in a single Kalman filter. The IARTK-AINS is able to recover L1 integer ambiguities within seconds of a short-duration GPS outage while maintaining decimeter-level accuracy throughout the outage. The paper then describes the performance of the IARTK-AINS during various tests involving controlled GPS outages and uncontrolled GPS availability during navigation in a demanding urban canyon environment.

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