Improving ambiguity resolution success rate in GNSS-based relative positioning with moving-baseline length constraint

Reliable integer ambiguity resolution is the key to the global navigation satellite system (GNSS)-based precise positioning applications. In many scenarios, it is a common setup that more than one antenna is mounted on the moving platform. The integer ambiguity resolution can therefore be improved if the constant baseline information between the antennas is used reasonably. In this contribution, the baseline information, which can be measured a prior  as the constraint and has been successfully used to improve the GNSS-based attitude determination, is now extended to relative positioning. The baseline length is fully integrated into the ambiguity objective function of the relative positioning model, thus improving the reliability of relative positioning resolution. In experimental validation, both simulated and real datasets are tested to demonstrate the benefits brought by the baseline length constraint. The results show that the constraint ensures a higher ambiguity resolution success rate, and the improvement is more obvious when the observable condition is weaker.