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Due to the highly dynamic changes of the environment, the frequent loss of signal will seriously reduce the accuracy of realtime dynamic positioning. Meanwhile, the ambiguity resolution for medium/long baseline is more affected by atmospheric delay. To solve this problem, an Inertial Navigation System (INS) assisted Beidou Navigation System (BDS) medium/long baseline partial ambiguity resolution (PAR) method is designed. Firstly, constructing the BDS/INS tight integrated system that uses INS provided initial information to ambiguity resolution when the signal outages. Secondly, the atmospheric delay constraint is introduced to improve the precision of float ambiguity. Finally, the PAR based on the elevation angle information is applied to enhance fixed speed and accuracy. The vehicle experiments show that the proposed algorithm can quickly fix the ambiguity of medium/long baseline when the satellite signal outages for a short time, and improve the positioning accuracy of medium/long baseline in the dynamic environment.

Ambiguity resolution method using BDS/INS model