For classical TCAR(three carrier ambiguity resolution) algorithm is affected by ionospheric delay and measurement noise, it is difficult to reliably fix ambiguity at medium and long baselines. An improved TCAR algorithm which takes the influence of ionospheric delay into account and has good adaptive robustness is proposed. On the basis of the non-geometric TCAR model, ionospheric delay is obtained by linearly combining extra-wide-lane with fixed ambiguity, and then wide-lane ambiguity is solved. Solving narrow-lane ambiguity by adaptive robust filtering by constructing optimal combination observation, which can effectively improve the fixed success rate of narrow-lane ambiguity and reduce the adverse effects of gross error. Experimental results show that the improved TCAR algorithm can guarantee a high fixed correct rate of wide-lane ambiguity, effectively improve fixed success rate of narrow-lane ambiguity, and has a good ability to resist gross error.