MLISB-RTK: Machine Learning Based on Inter-System Biases to Improve the Performance of RTK in Complex Environments

In challenging environments, there often exist problems of false alarms and missed detections in real-time kinematic (RTK) ambiguity resolution, which significantly reduce the reliability and availability of position information. To address these issues, a machine-learning method is proposed to conduct a correctness check on RTK ambiguity fixing, aiming to reduce the occurrences of false alarms and missed detections. The inter-system differential RTK model is adopted. Compared with the traditional RTK model, this model can provide an effective feature, namely the differential inter-system biases (DISB), to improve the accuracy of machine-learning classification. This is because when the RTK ambiguity is correctly fixed, the DISB usually appears as a stable constant. In addition to DISB, features that are strongly related to ambiguity fixing, such as the ratio value, DOP value, and residuals, are also comprehensively utilized. This method is verified by an open-source, large-scale, and diverse GNSS/SINS dataset-SmartPNT-POS. The experimental results show that, compared with the traditional method of relying solely on the empirical ratio value for ambiguity fixing verification, the missed detection probability of this method is reduced by 2%, the false-alarm probability is decreased by 29%, and the positioning accuracy is improved by approximately 7%. Moreover, compared with other features, the DISB feature provides the highest contribution rate in the machine-learning classification model.