Robust single-epoch carrier phase positioning algorithm for asynchronous ground-based positioning systems

Asynchronous ground-based positioning systems (A-GBPS) can assist or replace Global Navigation Satellite System (GNSS) in critical environments and has received much attention. A-GBPS can provide high accuracy positioning results with carrier phase measurements. However, existing high accuracy positioning algorithms for A-GBPS are vulnerable in critical environments due to serious cycle slips, signal interference and multipath, which introduce biases into measurements. In this paper, we propose a Positioning Algorithm Using Single- Epoch phase measurements (PAUSE). It includes a positioning process, a validation process and a quality control process to provide accurate and reliable positioning results. The positioning process achieve ambiguity resolution and positioning by searching in the ambiguity domain. The validation process and the quality control process use the ratio of the phase residual to effectively identify and exclude measurements with bias to ensure the reliability of the results. Numerical simulations and field experiments show that PAUSE can effectively detect and remove biased measurements and realize centimeter-level carrier phase positioning with high reliability.