In the past decades, short multipath effect is one of the most important error sources in global navigation satellite systems (GNSS) navigation, and seriously affects the positioning precision. Therefore, some algorithms based on traditional Kalman filtering (KF) have been proposed to overcome the short multipath effect, for example extended KF (EKF), adaptive KF (AKF) and constrained KF (CKF).So, the topic today is surrounded the four aspects as follows:
1.Propose an empirical pseudo range residual model caused by short multipath, which shows pseudo range error exhibits “rectangular” distribution or “shock” distribution.
2.Demonstrate that positioning error and pseudo range error subject to same distribution, and the height of the positioning error is higher than the horizontal positioning error in influence of short multipath effect.
3.Propose a zero-cost algorithm based on the cm model and (height constrained adaptive KF) HCAKF to improve the height estimation in GNSS positioning.
4.Compare the proposed algorithm with traditional EKF, AKF, and commercial GNSS receiver in various short multipath environment. |