{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,2,12]],"date-time":"2026-02-12T17:42:20Z","timestamp":1770918140177,"version":"3.50.1"},"reference-count":30,"publisher":"MDPI AG","issue":"15","license":[{"start":{"date-parts":[[2020,7,23]],"date-time":"2020-07-23T00:00:00Z","timestamp":1595462400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"the Youth Program of National Natural Science Foundation of China","award":["No. 4190402"],"award-info":[{"award-number":["No. 4190402"]}]},{"name":"the Scientific Research Project of\u00a0Beijing\u00a0Educational Committee","award":["No. KM202010016009"],"award-info":[{"award-number":["No. KM202010016009"]}]},{"name":"the Science and Technology Research Project of Education Department of Jiangxi Province","award":["Nos. GJJ190446 and GJJ191591"],"award-info":[{"award-number":["Nos. GJJ190446 and GJJ191591"]}]},{"name":"the High Level Talents Research Start-Up Project of Jiangxi University of Science and Technology","award":["No. jxxjbs19032"],"award-info":[{"award-number":["No. jxxjbs19032"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Remote Sensing"],"abstract":"<jats:p>Single-frequency GPS\/BeiDou navigation satellite system (BDS) real-time kinematic (RTK) and inertial navigation system (INS) integration has wide range of application prospects due to the global deployment of GPS along with the rapid development of BDS. The instantaneous single-frequency ambiguity resolution will be significantly improved by the combined GPS\/BDS and INS configuration. Owing to road conditions and an inertial measurement unit (IMU) on the carrier not being rigidly mounted, biased measurements in the IMU will occasionally emerge, leading to biased INS predictions. However, bias or inaccuracy from INS-predicted position can prevent the successful resolution of the whole set of ambiguities. This paper proposes the use of a positional polynomial fitting (PPF) constraint to compensate for the epochs with abnormal INS predictions. The aid from PPF is provided at two levels, i.e., at the ambiguity resolution (AR) level and at the solution level. In order to further increase the availability of ambiguity-fixed positioning solutions, a partial ambiguity resolution (PAR) strategy is introduced when full ambiguity resolution (FAR) fails. A field vehicular experiment was performed to show the validity of the proposed PPF-aided method by comparing different schemes regarding different INS-aided satellite system configurations, different AR strategies, and whether the PPF-aided method was adopted. The results show that the most attractive scheme is to combine the PAR with the PPF-aided dual-constellation and INS integration.<\/jats:p>","DOI":"10.3390\/rs12152374","type":"journal-article","created":{"date-parts":[[2020,7,23]],"date-time":"2020-07-23T11:26:01Z","timestamp":1595503561000},"page":"2374","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":12,"title":["Single-Frequency GPS\/BDS RTK and INS Ambiguity Resolution and Positioning Performance Enhanced with Positional Polynomial Fitting Constraint"],"prefix":"10.3390","volume":"12","author":[{"given":"Hang","family":"Yu","sequence":"first","affiliation":[{"name":"School of Environment Science and Spatial Informatics, China University of Mining and Technology, Xuzhou 221116, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Houzeng","family":"Han","sequence":"additional","affiliation":[{"name":"School of Geomatics and Urban Spatial Information, Beijing University of Civil Engineering and Architecture, Beijing 100044, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jian","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Geomatics and Urban Spatial Information, Beijing University of Civil Engineering and Architecture, Beijing 100044, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Haiping","family":"Xiao","sequence":"additional","affiliation":[{"name":"School of Architectural and Surveying Engineering, Jiangxi University of Science and Technology, Ganzhou 341000, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-5960-6945","authenticated-orcid":false,"given":"Chuanyang","family":"Wang","sequence":"additional","affiliation":[{"name":"School of Environment Science and Spatial Informatics, China University of Mining and Technology, Xuzhou 221116, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2020,7,23]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"1255","DOI":"10.1007\/s00190-016-0921-x","article-title":"Single-frequency, dual-GNSS versus dual-frequency, single-GNSS: A low-cost and high-grade receivers GPS-BDS RTK analysis","volume":"90","author":"Odolinski","year":"2016","journal-title":"J. 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