LAUSR

Abstract In urban environment, GNSS positioning performance is easily affected by multipath. In this paper, in addition to the traditional elevation model, a real-time single-frequency GPS/BDS code multipath mitigation method based on C/N0 normalization was proposed. The proposed model combines the elevation and C/N0 to detect and mitigate multipath. Specifically, in our studies, we found that for the same site, different C/N0 calibration models should be used for different constellation types. Based on the model implemented in ideal environments, the C/N0 observations affected by multipath in complex environments appear to deviate from nominal values. This feature can be used to detect multipath, and thus determine the weights of the satellites based on the deviation values. Finally, the consistency checking is performed on the satellite residuals to further mitigate multipath. According to the positioning experiments, the proposed method can effectively improve the positioning performance, with the improvement about 7.1%-33.3% in complex environments.