Journal of Geodesy

, Volume 93, Issue 4, pp 561–572 | Cite as

Improved pitch-constrained ambiguity function method for integer ambiguity resolution in BDS/MIMU-integrated attitude determination

  • Yong Wang
  • Xiubin Zhao
  • Chunlei PangEmail author
  • Xiao Wang
  • Shaoshi Wu
  • Chuang Zhang
Original Article


The initialization is a critical step in the BeiDou Navigation Satellite System and microelectromechanical inertial measurement unit (MIMU)-integrated attitude determination. One of the primary tasks in the initializing process is integer ambiguity resolution. The rapidity and reliability of integer ambiguity resolution play a particularly important role in kinematic attitude determination. However, the common ambiguity function method (AFM) is time consuming and unreliable due to searching over the entire yaw and pitch range. In view of the fact that MIMU can provide initial pitch by self-alignment with the three-axis accelerometers, we present a pitch-constrained AFM (PCAFM) for single-epoch and single-frequency integer ambiguity resolution. Although only pitch information is available, both pitch and yaw search spaces can be constrained in PCAFM. The pitch search space is constrained by the initial pitch from MIMU, and then the yaw search candidates are reduced by the constrained pitch range with the mathematical relationship between yaw and pitch in the DD carrier-phase observation equation. Experimental results demonstrate that the yaw and pitch search candidates of PCAFM are greatly decreased by 67.55% and 97.51%, respectively. Meanwhile, the success rate of integer ambiguity resolution is improved compared with the AFM.


BDS MIMU Attitude determination Integer ambiguity resolution Pitch-constrained AFM 



This work is supported by National Natural Science Foundation of China (Grant No. 61601506).


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Copyright information

© Springer-Verlag GmbH Germany, part of Springer Nature 2018

Authors and Affiliations

  1. 1.Information and Navigation CollegeAir Force Engineering UniversityXi’anPeople’s Republic of China

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