2026
Tightly Coupled Rao-Blackwellized Particle Filter for GNSS-Only Positioning in Urban Environments Without Ambiguity Resolution
RA-L 2026
This paper presents a tightly coupled Rao-Blackwellized particle filter (TC-RBPF) for global navigation satellite system (GNSS) positioning that eliminates the need for carrier-phase integer ambiguity resolution. The previously proposed loosely coupled RBPF (LC-RBPF) approach uses carrier-phase resi