In this study. we proposed a novel method for global navigation satellite system (GNSS) ambiguity resolution (AR). The proposed method utilizes an improved particle swarm optimization (IPSO) algorithm to obtain the GNSS integer ambiguity with the double differenced (DD) float resolution and its corresponding covariance matrix. First. https://www.roneverhart.com/Liftmaster-K1D8387-1CC-Expansion-Circuit-Board/