Tightly Coupled RTK/IMU Integration With a Multipath-Aware Stochastic Model-Based Ambiguity Resolution for Positioning in Urban Areas
Tightly coupled integration of single-frequency global navigation satellite system (GNSS) real-time kinematic (RTK) observations and inertial measurement unit (IMU) data provides a practical solution for high-precision urban positioning. However, severe nonline-of-sight (NLOS) and multipath effects compromise urban pos...