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Many multi-sensor navigation systems urgently demand accurate positioninginitialization from global navigation satellite systems (GNSSs) in challengingstatic scenarios. However, ground blockages against line-of-sight (LOS) signalreception make it difficult for GNSS users. Steering local codes in GNSSbasebands is a desiring way to correct instantaneous signal phase misalignment,efficiently gathering useful signal power and increasing positioning accuracy.Besides, inertial navigation systems (INSs) have been used as awell-complementary dead reckoning (DR) sensor for GNSS receivers in kinematicscenarios resisting various interferences since early. But little work focuseson the case of whether the INS can improve GNSS receivers in static scenarios.Thus, this paper proposes an enhanced navigation system deeply integrated withlow-cost INS solutions and GNSS high-accuracy carrier-based positioning. First,an absolute code phase is predicted from base station information, andintegrated solution of the INS DR and real-time kinematic (RTK) results throughan extended Kalman filter (EKF). Then, a numerically controlled oscillator(NCO) leverages the predicted code phase to improve the alignment betweeninstantaneous local code phases and received ones. The proposed algorithm isrealized in a vector-tracking GNSS software-defined radio (SDR). Real-worldexperiments demonstrate the proposed SDR regarding estimating time-of-arrival(TOA) and positioning accuracy.

High-Accuracy Absolute-Position-Aided Code Phase Tracking Based on RTK/INS Deep Integration in Challenging Static Scenarios