Rapid ambiguity resolution for kinematic GPS based on integer constraints

The kinematic GPS is a method in which the positioning with an accuracy of several centimeters is realized using continuous tracking by a mobile user for the phase of the carrier sent from the GPS satellite. In the mobile positioning system based on the carrier phase, there exists a phase bias uncertainty (ambiguity) corresponding to the integer multiple of the wavelength in the phase measurement; and there must be a processing that can resolve the phase ambiguity with a high speed while the user is moving. This paper indicates that an integer constraint exists based on the geometrical positions of the observation point and the satellite as well as the ambiguity and presents a method that can resolve the ambiguity with a high speed by utilizing the integer constraint. In other words, a method is presented that earn resolve the ambiguity with high speed by noting the time redundancy contained in the result of measurement and by applying the smoothing along the time axis.