中文摘要：

建立了直线道路和曲线道路的约束条件方程,给出了附有道路轨迹约束条件的卡尔曼滤波公式,提出了约束条件下的模糊度分解算法。本文算法中模糊度的浮点解由约束卡尔曼滤波器获得,而模糊度整数解由LAMBDA算法完成。车载GPS试验结果表明,附加轨迹信息约束的卡尔曼滤波方法可以有效地提高模糊度浮点解的精度,使得运动中整周模糊度的分解速度和成功率得到显著提高。

英文摘要：

The Kalman filtering method with track constraints is presented and Kalman filtering equations are derived. Integer ambiguity resolution with road constraints based on LAMBDA is given. Float ambiguity is obtained by the Kalman filter with road constraints. Vehicle based GPS tests were carried out to show the feasibilities of the proposed method and the results indicate that the proposed method can improve the accuracy of float ambiguity and enhance ambiguity resolution speed and successful rate efficiently.