Despite the high-precision performance of GNSS real-time kinematic (RTK) in many cases, large noises in pseudo-range measurements or harsh signal environments still impact float ambiguity estimation in kinematic localization, which leads to ambiguity-fixed failure and worse positioning results. To improve RTK ambiguity resolution (AR) performance further, multi-sensor fusion technique is a feasible option. Light detection and ranging (LiDAR)-based localization is a good complementary method to GNSS. Tight integration of GNSS RTK and LiDAR adds new information to satellite measurements, thus improving float ambiguity estimation and then improving integer AR. In this work, a LiDAR aiding single-frequency single-epoch GPS + BDS RTK was proposed and investigated by theoretical analysis and performance assessment. Considering LiDAR-based localization failure because of ambiguous and repetitive landmarks, a fuzzy one-to-many feature-matching method was proposed to find a series of sequences including all possible relative positions to landmarks. Then, the standard RTK method was tightly combined with the possible positions from each sequence to find the most accurate position estimation. Experimental results proved the superiority of our method over the standard RTK method in all aspects of success rate, fixed rate and positioning accuracy. In specific, our method achieved centimeter-level position accuracy with 100% fixed rate in the urban environment, while the standard GPS + BDS RTK obtained decimeter-level accuracy with 26.84% fixed rate. In the high occlusion environment, our method had centimeter-level accuracy with a fixed rate of 96.31%, comparing a meter-level accuracy and a fixed rate of 7.65% of standard GPS + BDS RTK method.

中文翻译：

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一种基于模糊一对多特征匹配的激光雷达辅助模糊度解决方法

尽管 GNSS 实时运动学 (RTK) 在许多情况下具有高精度性能，但伪距测量或恶劣信号环境中的大噪声仍然影响运动学定位中的浮动模糊度估计，从而导致模糊度固定失败和更差的定位结果. 为了进一步提高 RTK 模糊度分辨率 (AR) 性能，多传感器融合技术是一个可行的选择。基于光检测和测距 (LiDAR) 的定位是 GNSS 的一种很好的补充方法。GNSS RTK 和 LiDAR 的紧密集成为卫星测量增加了新信息，从而改进了浮点模糊度估计，进而改进了整数 AR。在这项工作中，通过理论分析和性能评估提出并研究了一种辅助单频单历元 GPS + BDS RTK 的 LiDAR。考虑到基于 LiDAR 的定位因模糊和重复的地标而失败，提出了一种模糊的一对多特征匹配方法来查找一系列序列，包括与地标的所有可能的相对位置。然后，标准 RTK 方法与每个序列的可能位置紧密结合，以找到最准确的位置估计。实验结果证明了我们的方法在成功率、固定率和定位精度等各个方面都优于标准 RTK 方法。具体而言，我们的方法在城市环境中以100%的固定率实现了厘米级的定位精度，而标准的GPS+BDS RTK以26.84%的固定率获得了分米级的定位精度。在高遮挡环境下，我们的方法具有厘米级精度，固定率为96.31%，