New method for Beidou dual-frequency kinematic-to-kinematic relative positioning

In kinematic-to-kinematic relative positioning, the floating solution of the integer ambiguity is hard to quickly and accurately be solved in dynamic situations due to the baseline vector's real-time change. To solve this problem, a novel algorithm is proposed for Beidou dual-frequency kinematic-to-kinematic relative positioning. Firstly, the coefficient matrix of the baseline vectors of combined double-differential equations are decomposed by singular value decomposition, and the combined double-differential equations are transformed to eliminate the baseline parameters, so that the variable-parameter estimation problem is transformed into the constant-parameter estimation problem. Then, the floating solution and the covariance matrix of combined double-differential integer ambiguities are deduced in real-time by Recursive Least Square method. Based on this, the combined integer ambiguities are searched and fixed by LAMBDA algorithm. Experiment results show that, compared to single-frequency solution method, the proposed method takes less time, and the baseline error is within 5 cm, showing that it is suitable for applying in high-precision kinematic-to-kinematic relative positioning. © 2016, Editorial Department of Journal of Chinese Inertial Technology. All right reserved.