Tightly Coupled Integration of Inertial Data with Multi-Constellation PPP-IF with Integer Ambiguity Resolution

Precise Point Positioning (PPP) is already the preferred technique for GNSS navigation; however, it suffers from a low convergence time that cannot be accepted for multiple applications. This paper expands on the state-of-the-art techniques to address this limitation and considerably decrease the convergence time. The developed algorithm consists of a tightly coupled implementation of inertial data with a multi constellation PPP Ionosphere-Free with Integer Ambiguity Resolution (PPP-IF-IAR). The first step to improve the convergence was to achieve the integer ambiguity resolution in a multi-constellation multi-frequency configuration. The addition of the inertial data proved to be essential in keeping a precise position during the GNSS signal disruptions commonly seen in land applications, moreover it ratified its importance by accelerating the ambiguity resolution. Another focus of this paper is the validation of the algorithm in real kinematic scenarios. The results will be presented as a series of two comparisons. Firstly, the solution will be compared to a Real Time Kinematic (RTK) very short base line reference solution. Secondly, the tightly coupled solution will be compared to the GNSS only PPP-IF-IAR solution.