Currently, the precise positioning of multiple moving platforms relative to each other has become a hot topic in the community of navigation and robotics. For high-accuracy applications, the carrier phase observations of Global Navigation Satellite System (GNSS) are usually used to obtain the relative positions with centimeter level. However, the carrier phase observations used for relative positioning might inevitably suffer from kinds of faults due to transmission degradation, ionospheric scintillations, cycle slips, multipath, etc. These faults might result in incorrect relative positions of single or multiple moving platforms, and have negative impact on the safety and efficiency. To solve this problem, an Autonomous Fault Detection and Exclusion (AFDE) method for relative positioning of multiple moving platforms using carrier phase is proposed in this paper. First, since the error model of the observations for carrier phase is very difficult to obtain accurately, error bounding is calculated to have a conservative estimation of observation errors in this step. Then, the carrier phase observations are selected for integer ambiguity resolution, according to the relative geometric distribution and the error bounding. Finally, a residual error-based fault detection and exclusion method is proposed for the relative positioning of multiple moving platforms. Experimental results show that our proposed AFDE for relative positioning of multiple moving platforms can detect and exclude the faults effectively, and obtain high precision solutions for the relative positioning of multiple moving platforms.
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