{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,12,20]],"date-time":"2025-12-20T22:31:03Z","timestamp":1766269863854,"version":"build-2065373602"},"reference-count":19,"publisher":"MDPI AG","issue":"7","license":[{"start":{"date-parts":[[2018,7,4]],"date-time":"2018-07-04T00:00:00Z","timestamp":1530662400000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>Vehicles driving in urban canyons are always confronted with a degraded Global Navigation Satellite System (GNSS) signal environment. The surrounding obstacles may cause signal reflections or blockages, which lead to large multipath noises and intermittent GNSS reception. Under these circumstances, it is not feasible to use conventional real-time kinematic (RTK) algorithms to maintain high-precision performance for positioning. In order to meet the special requirements of safety-critical applications under non-ideal observation conditions, a novel tightly coupled RTK\/Inertial Navigation System (INS) algorithm is proposed in this paper, which can provide accurate and reliable positioning results continuously. Our integrated RTK\/INS algorithm has three features. Firstly, INS measurements are used to help search for integer ambiguities in the position domain. INS solutions can provide a more accurate initial location and a more efficient search region. Secondly, the criterion for determining whether a candidate position is the correct solution is only related to the fractional value of the carrier-phase measurement. Thus, the new algorithm is immune to cycle slips as well as large pseudorange noises. Thirdly, our algorithm can provide more accurate ranging information than the pseudorange, even though it may not necessarily be fixed successfully, because it selects the weighted ambiguity solution as the result rather than the candidate point with maximum probability. The proposed algorithm is demonstrated on both simulated and real datasets. Compared with single epoch RTK and conventional tightly coupled RTK\/INS integrations that search integer ambiguities in the ambiguity domain, our method attains better accuracy and stability in a simulated environment. Moreover, the real experimental results are presented to validate the performance of the new integrated navigation algorithm.<\/jats:p>","DOI":"10.3390\/s18072160","type":"journal-article","created":{"date-parts":[[2018,7,4]],"date-time":"2018-07-04T12:23:02Z","timestamp":1530706982000},"page":"2160","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":22,"title":["A Tightly Coupled RTK\/INS Algorithm with Ambiguity Resolution in the Position Domain for Ground Vehicles in Harsh Urban Environments"],"prefix":"10.3390","volume":"18","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-4242-1615","authenticated-orcid":false,"given":"Wei","family":"Li","sequence":"first","affiliation":[{"name":"Department of Electronic Engineering, Tsinghua University, Beijing 100084, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-7921-9504","authenticated-orcid":false,"given":"Wenyi","family":"Li","sequence":"additional","affiliation":[{"name":"Department of Electronic Engineering, Tsinghua University, Beijing 100084, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xiaowei","family":"Cui","sequence":"additional","affiliation":[{"name":"Department of Electronic Engineering, Tsinghua University, Beijing 100084, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-6335-1911","authenticated-orcid":false,"given":"Sihao","family":"Zhao","sequence":"additional","affiliation":[{"name":"Department of Electronic Engineering, Tsinghua University, Beijing 100084, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Mingquan","family":"Lu","sequence":"additional","affiliation":[{"name":"Department of Electronic Engineering, Tsinghua University, Beijing 100084, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2018,7,4]]},"reference":[{"key":"ref_1","unstructured":"Takasu, T., and Yasuda, A. (2009, January 4\u20136). Development of the low-cost RTK-GPS receiver with an open source program package RTKLIB. Proceedings of the International Symposium on GPS\/GNSS, Jeju, Korea."},{"key":"ref_2","unstructured":"Hatch, R. (1994, January 20\u201323). Comparison of several arof kinematic techniques. Proceedings of the 7th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GPS-94), Salt Lake City, UT, USA."},{"key":"ref_3","unstructured":"Hatch, R. The synergism of GPS code and carrier measurements. Proceedings of the International Geodetic Symposium on Satellite Doppler Positioning, New Mexico State University: Las Cruces, NM, USA."},{"key":"ref_4","doi-asserted-by":"crossref","first-page":"2985","DOI":"10.1088\/0957-0233\/18\/9\/032","article-title":"Improved ambiguity function method based on analytical resolution for GPS attitude determination","volume":"18","author":"Wang","year":"2007","journal-title":"Meas. Sci. Technol."},{"key":"ref_5","doi-asserted-by":"crossref","first-page":"325","DOI":"10.1007\/BF03655276","article-title":"Rapid static positioning based of the first ambiguity resolution approach \u201cFARA\u201d: Theory and first results","volume":"15","author":"Frei","year":"1990","journal-title":"Manuscr. Geod."},{"key":"ref_6","doi-asserted-by":"crossref","first-page":"65","DOI":"10.1007\/BF00863419","article-title":"The least-squares ambiguity decorrelation adjustment: A method for fast GPS integer ambiguity estimation","volume":"70","author":"Teunissen","year":"1995","journal-title":"J. Geod."},{"key":"ref_7","doi-asserted-by":"crossref","unstructured":"Schwarz, K.P., and Lachapelle, G. (1991). Instantaneous Ambiguity Resolution. Kinematic Systems in Geodesy, Surveying, and Remote Sensing, Springer.","DOI":"10.1007\/978-1-4612-3102-8"},{"key":"ref_8","unstructured":"China Satellite Navigation Office (2013). BeiDou Navigation Satellite System Open Service Performance Standard (Version 1.0)."},{"key":"ref_9","unstructured":"Farrell, J. (2008). Aided Navigation: GPS with High Rate Sensors, McGraw-Hill, Inc.. [1st ed.]."},{"key":"ref_10","doi-asserted-by":"crossref","unstructured":"De Gaetani, C.I., Pagliari, D., Realini, E., Reguzzoni, M., Rossi, L., and Pinto, L. (2018). Improving Low-Cost GNSS Navigation in Urban Areas by Integrating a Kinect Device, Springer.","DOI":"10.1007\/1345_2018_27"},{"key":"ref_11","doi-asserted-by":"crossref","first-page":"330","DOI":"10.1016\/S0924-2716(01)00026-0","article-title":"Automated processing of mobile mapping image sequences","volume":"55","author":"Tao","year":"2001","journal-title":"ISPRS J. Photogramm. Remote Sens."},{"key":"ref_12","doi-asserted-by":"crossref","first-page":"155","DOI":"10.1080\/10095020.2013.817106","article-title":"Integration of GPS with a WiFi high accuracy ranging functionality","volume":"16","author":"Nur","year":"2013","journal-title":"Geo-spat. Inf. Sci."},{"key":"ref_13","unstructured":"Meguro, J., Hashizume, T., Takiguchi, J., and Kurosaki, R. (2005, January 18\u201322). Development of an autonomous mobile surveillance system using a network-based RTK-GPS. Proceedings of the 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain."},{"key":"ref_14","doi-asserted-by":"crossref","unstructured":"Dorn, M., Filwarny, J.O., and Wieser, M. (2017, January 9\u201312). Inertially-aided RTK based on tightly-coupled integration using low-cost GNSS receivers. Proceedings of the European Navigation Conference (ENC), Lausanne, Switzerland.","DOI":"10.1109\/EURONAV.2017.7954208"},{"key":"ref_15","doi-asserted-by":"crossref","first-page":"8685","DOI":"10.3390\/s150408685","article-title":"Performance analysis on carrier phase-based tightly-coupled GPS\/BDS\/INS integration in GNSS degraded and denied environments","volume":"15","author":"Han","year":"2015","journal-title":"Sensors"},{"key":"ref_16","doi-asserted-by":"crossref","unstructured":"Li, W., Cui, X., and Lu, M. (2016, January 25\u201328). Urban RTK using adaptive point mass filter with wide-lane measurements. Proceedings of the 2016 International Technical Meeting of the Institute of Navigation, Monterey, CA, USA.","DOI":"10.33012\/2016.13460"},{"key":"ref_17","unstructured":"Groves, P.D. (2013). Principles of GNSS, Inertial, and Multisensor Integrated Navigation Systems, Artech House."},{"key":"ref_18","doi-asserted-by":"crossref","first-page":"330","DOI":"10.1007\/BF00868185","article-title":"Improving the computational efficiency of the ambiguity function algorithm","volume":"70","author":"Han","year":"1996","journal-title":"J. Geod."},{"key":"ref_19","unstructured":"Kennedy, S., Hamilton, J., and Martell, H. (2006, January 25\u201327). Architecture and system performance of SPAN-NovAtel\u2019s GPS\/INS solution. Proceedings of the 2006 IEEE\/ION Position, Location, and Navigation Symposium, Coronado, CA, USA."}],"container-title":["Sensors"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.mdpi.com\/1424-8220\/18\/7\/2160\/pdf","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,10,11]],"date-time":"2025-10-11T15:11:20Z","timestamp":1760195480000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.mdpi.com\/1424-8220\/18\/7\/2160"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2018,7,4]]},"references-count":19,"journal-issue":{"issue":"7","published-online":{"date-parts":[[2018,7]]}},"alternative-id":["s18072160"],"URL":"https:\/\/doi.org\/10.3390\/s18072160","relation":{},"ISSN":["1424-8220"],"issn-type":[{"type":"electronic","value":"1424-8220"}],"subject":[],"published":{"date-parts":[[2018,7,4]]}}}