The Performance Improvement of Wald Test of GPS RTK Using INS

There always is difficulty to determine an integer ambiguity to use GPS carrier phase measurement for precise positioning. In this paper, an integrated GPS/INS is used to reduce the time of determining the integer ambiguity in spite of difficult environmental condition. The Wald test is applied to fixing an integer ambiguity of GPS carrier phase measurements with adding INS information. The test is executed regarding two cases; i.e. numerical simulations and a real experiment. At the first case, GPS carrier and INS measurement data are numerically generated for static and dynamic movements. For the other, real data which are collected from an INS and GPS receivers are used to test under real environment situation. The results show the improvements of the convergence performance to the true hypothesis set with helping INS.