With the continuous improvement of the hardware performance of low-cost GNSS(Global Navigation Satellite System) terminals, their applications in positioning have become more widespread.However, low-cost GNSS terminals are often affected by the observation environment in data acquisition, making high-precision positioning of carrier phase observations more difficult.Pseudorange positioning algorithms are widely used due to their advantages of simple positioning models and good real-time performance.Therefore, this article usecl the Doppler smoothing pseudorange method, fully utilizing the role of Doppler observations, and the measurement accuracy of observations was improved through Doppler smoothing pseudorange noise.The Doppler smoothing pseudorange model was used to analyze the smoothing effect in static and various dynamic environments.The experimental results showed that in static conditions, using the Doppler smoothing pseudorange algorithm, the planar accuracy of SPP(standard point positioning) and RTD(real time differential) had improved by 25％ and 31％, respectively, compared to the results before smoothing.In dynamic environments, the accuracy of dynamic experiments with occlusion could be improved by more than 30％, and in open conditions, the positioning accuracy could be improved by more than 15％.During rapid motion, the improvement could reach about 20％.The experimental results showed that the Doppler smoothing pseudorange algorithm loald significantly improve the positioning accuracy of low-cost GNSS terminals.
low cost global navigation satellite system (GNSS) terminalsDoppler smoothing pseudorangesingle point positioningRTD
万方数据
维普
