To address the degradation of positioning accuracy and low ambiguity fix rate in complex scenarios such as tunnels and overpasses using the traditional tight integration between global navi-gation satellite system(GNSS)and inertial navigation system(INS),a tightly coupled RTK/INS integration method based on redundant GNSS observations is presented.This method can seam-lessly integrate any number of GNSS terminals and effectively improve the positioning performance of the system through improved satellite geometry configuration and abundant redundant observa-tions.Experimental verification and quantitative analysis show that this method can achieve centi-meter-level accuracy in urban environments and significantly improve positioning performance compared to single-antenna tight integration methods in complex scenarios with a drastic reduction in the number of satellites.The maximum error is limited to 1 m,compared to nearly 3 m,and the ambiguity resolution rate is increased by 20％.
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