A Differential Relative Location Method Based on Residual Modified Partial Ambiguity Resolution

With the increasing demand of high precision navigation and positioning, real-time kinematic (RTK) positioning has gradually become a research hotspot in recent years. The static positioning accuracy of RTK positioning can reach the level of millimeter, but the success rate of ambiguity fixing is always a big problem in RTK positioning. Partial Ambiguity Resolution (PAR) has been widely used in the fuzzy fixing solution of RTK positioning. In order to solve the problem that the carrier phase value of individual satellite may have gross error in complex dynamic environment, in this paper, a carrier phase relative positioning method based on residual correction with fixed partial ambiguity is proposed. First, the differential positioning model is obtained by the radial vector method. The Danish method is used to adjust the double difference observed value model to reduce the influence of carrier phase error difference. At last, the least square decreasing correlation adjustment (LAMBDA) method is used to fix part of the ambiguity. Experimental results show that this method can effectively reduce the influence of coarse error of carrier phase observation, and has higher positioning accuracy and ratio value than Real Time Differential (RTD) and Full Ambiguity Resolution (FAR).