Long-Baseline Real-Time Kinematic Positioning: Utilizing Kalman Filtering and Partial Ambiguity Resolution with Dual-Frequency Signals from BDS, GPS, and Galileo

This study addresses the challenges associated with single-system long-baseline real-time kinematic (RTK) navigation, including limited positioning accuracy, inconsistent signal reception, and significant residual atmospheric errors following double-difference corrections. This study explores the effectiveness of long-baseline RTK navigation using an integrated system of the BeiDou Navigation Satellite System (BDS), Global Positioning System (GPS), and Galileo Satellite Navigation System (Galileo). A long-baseline RTK approach that incorporates Kalman filtering and partial ambiguity resolution is applied. Initially, error models are used to correct ionospheric and tropospheric delays. The zenith tropospheric and inclined ionospheric delays and additional atmospheric error components are then regarded as unknown parameters. These parameters are estimated together with the position and ambiguity parameters via Kalman filtering. A two-step method based on a success rate threshold is employed to resolve partial ambiguity. Data from five long-baseline IGS monitoring stations and real-time measurements from a ship were employed for the dual-frequency RTK positioning experiments. The findings indicate that integrating additional GNSSs beyond the BDS considerably enhances both the navigation precision and the rate of ambiguity resolution. At the IGS stations, the integration of the BDS, GPS, and Galileo achieved navigation precisions of 2.0 cm in the North, 5.1 cm in the East, and 5.3 cm in the Up direction while maintaining a fixed resolution exceeding 94.34%. With a fixed resolution of Up to 99.93%, the integration of BDS and GPS provides horizontal and vertical precision within centimeters in maritime contexts. Therefore, the proposed approach achieves precise positioning capabilities for the rover while significantly increasing the rate of successful ambiguity resolution in long-range scenarios, thereby enhancing its practical use and exhibiting substantial application potential.