Attitude bootstrapped multi-frequency relative positioning

Normally, dual frequency observations are required for precise relative positioning, but under critical circumstances even with multi-frequency observations a reliable solution might not always be available. We have developed a method to rigorously integrate multiantenna data at individual platforms such that the attitude solution can be used to enhance relative positioning. Aim of the method is to instantaneously fix the ambiguities of the unconstrained baselines between platforms, whereas several epochs of data might be required with existing methods where not all available information is applied. We will analyze single epoch success rates as the most challenging application. The difference in performance for the methods for single epoch solutions, is a good indication of the strength of the underlying models, and therefore the results can also indicate how much a multi-epoch solution would benefit from the integrated approaches. This contribution will show that the new method improves the relative positioning performance, both single and dual frequency, of moving platforms significantly. The probability of correct instantaneous ambiguity resolution can be increased up to 37% for single frequency relative positioning. For dual frequency applications with at least three single frequency and one dual frequency antenna at each platform, an empirical success rate of more than 95% is achievable even with large code noise levels. An additional benefit of the method is an improved robustness and precision of the baseline estimation.